EP2367163A1 - Method and apparatus for secure low-level flights of an aircraft - Google Patents

Method and apparatus for secure low-level flights of an aircraft Download PDF

Info

Publication number
EP2367163A1
EP2367163A1 EP11001655A EP11001655A EP2367163A1 EP 2367163 A1 EP2367163 A1 EP 2367163A1 EP 11001655 A EP11001655 A EP 11001655A EP 11001655 A EP11001655 A EP 11001655A EP 2367163 A1 EP2367163 A1 EP 2367163A1
Authority
EP
European Patent Office
Prior art keywords
relief
unsecured
database
main volume
obstacle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP11001655A
Other languages
German (de)
French (fr)
Other versions
EP2367163B1 (en
Inventor
Richard Pire
François-Xavier Filias
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Airbus Helicopters SAS
Original Assignee
Eurocopter France SA
Eurocopter SA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Eurocopter France SA, Eurocopter SA filed Critical Eurocopter France SA
Publication of EP2367163A1 publication Critical patent/EP2367163A1/en
Application granted granted Critical
Publication of EP2367163B1 publication Critical patent/EP2367163B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0073—Surveillance aids
    • G08G5/0086—Surveillance aids for monitoring terrain
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0047—Navigation or guidance aids for a single aircraft
    • G08G5/006—Navigation or guidance aids for a single aircraft in accordance with predefined flight zones, e.g. to avoid prohibited zones
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0073—Surveillance aids
    • G08G5/0091—Surveillance aids for monitoring atmospheric conditions

Definitions

  • the present invention generally relates to a method and a device for flying with a low altitude aircraft in a secure manner with respect to non-wire and wire obstacles using a detection means. .
  • the detection means is of the telemetry type radar or laser or rangefinder stereoscopic. It is recalled that the laser remote sensing called “LIDAR” or “Light Detection and Ranging” in English language implements a laser light returned to its transmitter.
  • the detection of an object is achieved by measuring the delay between the emission of a signal and the detection of the reflected signal, the signal consisting of radio waves in the case of a radar and light in the case of a LIDAR.
  • the active obstacle detection sensors are limited in particular by the wired obstacle detection technique which does not make it possible to detect the wired obstacles from a threshold incidence of the transmitted signal with respect to the wired obstacle of the order of 15 ° with a RADAR and of the order of 60 ° with a LIDAR. From this incidence, the reflection becomes specular and the detection of the cables is no longer possible.
  • the current elevation bases do not allow to fly closer to the ground because the detection of wire obstacles is not guaranteed.
  • the pilot is thus obliged to fly over the field with a certain margin of safety.
  • the state of the art also includes the document US 2007/171094 , the document US 2003/225489 , the document FR 2 895 098 , the document US 2004/267413 and the document ZHAO M ET AL: TSINGHUA SCIENCE AND TECHNOLOGY, TSINGHUA UNIVERSITY PRESS, BEIJING, CN, vol. 10, no. 3, June 1, 2005 ).
  • the present invention therefore aims to provide a device to overcome the limitations mentioned above.
  • non-secure terrain means the representative surface of the ground of the ground.
  • the terrain is unsecured as it does not include wired and non-wired obstacles that may be struck by an aircraft in flight.
  • a primary database is first used to extract the unsecured relief and the top points representing obstacles overhanging the ground and therefore unsecured terrain.
  • the main volume is constructed using a segment-type generator between two points, a first end point being fixed and being located at the selected top point and a second end point being a second moving point for constructing the envelope.
  • the second point is then movable along a peripheral curve following the unsecured relief and delimiting the base of the main volume.
  • This main volume is then a cone, the base of the main volume in the form of a cone resting on the unsecured relief and having in fact a shape that can be complex and three-dimensional.
  • each peak point is potentially the high point of an amount in elevation, for example a pole or an electric pylon carrying electric cables.
  • the secure relief can be determined on the ground, or even in real time in flight.
  • the method according to the invention may include additional features.
  • the predetermined length is equal to the maximum distance.
  • the predetermined length is 300 meters.
  • At least two summit points overhanging the relief, a connecting straight line connecting the two summit points having a link length less than the length predetermined, unsecured relief is added a secondary volume separating the connecting line of an orthogonal projection of this connecting line on the non-secure relief to optimize the secure relief.
  • a primary database constructed previously is used, namely an already built insecure database including obstacles.
  • the primary database is manufactured.
  • a secondary database containing only the unsecured terrain is used and the secondary database is enriched with obstacles detected by an obstacle detection means to obtain the primary database.
  • a radar-type obstacle detection device LIDAR or sonar
  • LIDAR radar-type obstacle detection device
  • sonar is used to detect obstacles overlooking the ground, namely the unsecured terrain, and then the obstacles and the non-secure terrain are memorized together.
  • a memory to build the primary database.
  • the construction of the primary database can be done on the ground after one or more obstacle search flights, or in real time flight.
  • unsecured relief is added to a protective volume determined and positioned by an operator to optimize the secure relief. For example, the pilot chooses to exclude a flight zone manually before or during the flight, to avoid an area having delicate atmospheric conditions, possibly.
  • the secure terrain is recorded to provide a secure reusable terrain database that includes both wired and non-wired obstacles. This characteristic is particularly interesting when establishing the secure terrain in flight in real time. The memorization of this secure relief makes it possible to reuse it later.
  • the primary computer is for example a processor or a microprocessor, possibly equipped with a memory, or any other equivalent means.
  • This device can be arranged at least partially in an aircraft or on the ground.
  • the secondary computer is for example a processor or a microprocessor, optionally provided with a memory, or any other equivalent means.
  • the obstacle detection means may be of the LIDAR, radar or sonar type.
  • the obstacle detection means may further have a detector as such and a storage memory, optionally remote, storing the detected obstacles.
  • the other elements of the device can be arranged in an aircraft or on the ground.
  • the device may comprise an interface means for an operator to add to the unsecured relief a protection volume determined and positioned by this operator to optimize the secure relief.
  • the figure 1 illustrates the process according to the invention.
  • an unsecured relief is determined.
  • a second step P2 possibly performed in parallel with the first step P1, at least one top point is determined representing an obstacle overlooking the ground and therefore the unsecured relief.
  • a primary database containing at least one unsecured terrain of the terrain to be overflown and obstacles overlooking this unsecured terrain is used.
  • a primary database possibly commercially available.
  • the primary database is established from a secondary database containing the unsecured terrain relief that is enriched with obstacles detected by an obstacle detection means to obtain said primary database, the secondary database being commercially available or obtained by means of usual methods.
  • each peak point can be connected to a wire obstacle. Therefore, adding to said unsecured relief a main volume to obtain a safe relief that can be overflown safely. This secure relief therefore contains at least the unsecured relief and all the main volumes added.
  • each main volume V0 is delimited on the one hand by a base 2 of the main volume disposed on the unsecured relief R0 and, on the other hand, by a casing 1.
  • the base 2 of the main volume has a surface 2 'delimited by a closed peripheral curve 3 resting on the unsecured relief R0.
  • the envelope 2 is generated using a mobile segment S, whose two positions S1 and S2 are represented on the figure 2 the moving segment having a predetermined length L.
  • each wire obstacle extending over a maximum distance defined by standards from a first amount in elevation to a second amount of elevation of types electric poles, the predetermined length taken into consideration is equal to said maximum distance.
  • the base of the main volume V0 cone-shaped is circular and has a symmetry of revolution.
  • the base of the main volume may have a different shape.
  • a protective volume is added to the unsecured relief.
  • the protection volume V4 is determined and positioned by an operator. This volume of protection can be used to avoid a forbidden overflight zone or even subjected to severe atmospheric weather for example.
  • the figure 4 explicit such a configuration.
  • the secure relief R1 then comprises the unsecured relief R0 and a first main volume V1 may contain a wire obstacle from the first top point 4 of a first amount in elevation 4 ', a pole or a pylon, for example.
  • the secure relief R1 comprises a second main volume V2 may contain a wire obstacle from the second summit point 5 of a second amount in elevation 5 ', a pole or a pylon in particular.
  • the figure 5 has a device for flying using a low altitude aircraft in a secure manner adapted to implement the method according to the invention.
  • This device is provided with a primary database 10 storing an unsecured relief R0 and at least one top point 4, 5 representing localized obstacles overhanging this unsecured relief R0. It should be noted that the device can be arranged in an aircraft 100.
  • the device is provided with a primary computer 20, provided with a microprocessor or a microcontroller 21 and a memory 22 for example, to determine the secured relief by the addition to the unsecured relief of the least one main volume or at least one secondary volume.
  • the device may be provided with an interface means 30 enabling an operator to add at least one protection volume.
  • the device comprises a secondary database 11, an obstacle detection means 12 and a secondary computer 13, such as a microcontroller or a microprocessor for example.
  • the secondary computer then builds the primary database 10 by enriching the secondary database with the obstacles updated by the obstacle detection means.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

The method involves determining unsafe relief of a terrain, and determining the position of a high point representing an obstacle overlying the unsafe relief by applying a primary database (10) of the terrain containing the unsafe relief and the obstacle. The main volume defined between a main volume base placed on the unsafe relief and an envelope is added to the unsafe relief for obtaining safe relief for overflying that contains the unsafe relief. An independent claim is also included for a device for preparing a safe database to fly safely at low altitude in an aircraft.

Description

La présente invention concerne, d'une façon générale, un procédé et un dispositif pour voler à l'aide d'un aéronef à basse altitude de manière sécurisée par rapport aux obstacles non filaires et filaires à l'aide d'un moyen de détection.The present invention generally relates to a method and a device for flying with a low altitude aircraft in a secure manner with respect to non-wire and wire obstacles using a detection means. .

Plus particulièrement et de manière non limitative, le moyen de détection est du type télémètre radar ou laser ou télémétrique par stéréoscopie. On rappelle que la télédétection par laser dénommé « LIDAR » ou « Light Detection and Ranging » en langue anglaise met en oeuvre une lumière laser renvoyée vers son émetteur.More particularly, and in a non-limiting manner, the detection means is of the telemetry type radar or laser or rangefinder stereoscopic. It is recalled that the laser remote sensing called "LIDAR" or "Light Detection and Ranging" in English language implements a laser light returned to its transmitter.

La détection d'un objet est réalisée par la mesure du délai entre l'émission d'un signal et la détection du signal réfléchi, le signal étant constitué d'ondes radio électriques dans le cas d'un radar et de lumière dans le cas d'un LIDAR.The detection of an object is achieved by measuring the delay between the emission of a signal and the detection of the reflected signal, the signal consisting of radio waves in the case of a radar and light in the case of a LIDAR.

A partir d'images issues d'un moyen de détection délivrant des échos élémentaires ou plots, il est connu d'obtenir une base de données d'élévation de terrain de la zone observée par le moyen de détection. Cette base de données comprend tous les reliefs et les obstacles.From images from a detection means delivering elementary echoes or pads, it is known to obtain a terrain elevation database of the area observed by the detection means. This database includes all the reliefs and obstacles.

Toutefois, on note qu'une absence ou un défaut de détection de câbles ou d'autres obstacles filaires suspendus est à l'origine de nombreux accidents aériens, et diminue le domaine d'utilisation des aéronefs, en particulier des giravions, lorsqu'ils effectuent des vols près du sol.However, it is noted that the absence or failure of detection of cables or other suspended wire obstacles is the cause of many air accidents, and decreases the area of use of aircraft, particularly rotorcraft, when perform flights near the ground.

Il a déjà été proposé dans les brevets FR2736149 et US5762292 un système de reconnaissance de structures présentant des portions rectilignes dans une image délivrée par un capteur embarqué à bord d'un appareil volant, par un procédé réalisant une transformation paramétrique (transformation de Hough) d'une partie de l'image.It has already been proposed in patents FR2736149 and US5762292 a structure recognition system presenting rectilinear portions in an image delivered by a sensor on board a flying apparatus, by a process performing a parametric transformation (Hough transformation) of a part of the image.

La transformation de Hough, qui a été décrite dans le brevet US3069654 , permet de détecter dans une image un ensemble de points alignés.The Hough transformation, which was described in the patent US3069654 , allows to detect in a picture a set of aligned points.

Il a été proposé dans le brevet US5296909 de détecter la présence de câbles à l'aide d'un télémètre laser à balayage (LIDAR) délivrant des échos ou plots, chaque plot correspondant à un point d'un espace à trois dimensions caractérisé par ses trois coordonnées dans l'espace, en coordonnées sphériques site, gisement, distance : le télémètre envoie des impulsions laser qui permettent, par mesure de leurs durées de parcours, d'obtenir des points positionnés dans l'espace (les plots 3d). Les échos sont filtrés. Un jeu de paramètres est déterminé par transformée de Hough pour tous les groupes possibles d'échos filtrés. Des agrégats de points de l'espace des paramètres sont identifiés et la position d'un câble est déterminée par transformée de Hough inverse.It has been proposed in the patent US5296909 detecting the presence of cables using a laser scanning rangefinder (LIDAR) delivering echoes or pads, each pad corresponding to a point of a three-dimensional space characterized by its three coordinates in space, in spherical coordinates site, bearing, distance: the rangefinder sends laser pulses which, by measuring their durations of course, to obtain points positioned in the space (the 3d pads). The echoes are filtered. A set of parameters is determined by Hough transform for all possible groups of filtered echoes. Aggregates of points in the parameter space are identified and the position of a cable is determined by inverse Hough transform.

Il a par ailleurs été proposé dans le brevet US6747576 de détecter la présence de lignes électriques en formant un nuage de points de mesure dans un repère terrestre à partir de données de sortie d'un capteur de télédétection et de celles d'un système de navigation, et en éliminant les points de mesure représentant le sol. Le procédé comporte ensuite une recherche de droites parmi les projections dans un plan horizontal des points de mesure, par deux transformées de Hough successives : une transformée « pure » à l'aide d'une fonction delta (de Dirac), suivie d'une transformée « floue » où la fonction delta est remplacée par une distribution gaussienne. Ensuite, on recherche des chaînettes dans chaque plan vertical contenant une des droites ainsi trouvées, cette recherche comportant également deux transformées de Hough successives.It has been proposed in the patent US6747576 detect the presence of power lines by forming a cloud of measurement points in a terrestrial reference frame from output data of a remote sensing sensor and that of a navigation system, and eliminating the measurement points representing the ground. The process then involves a search for lines among the projections in a horizontal plane of the measurement points, by two successive Hough transforms: a "pure" transform using a delta function (Dirac), followed by a transformed "fuzzy" where the delta function is replaced by a Gaussian distribution. Then we look for chains in each vertical plane containing one of the lines thus found, this search also comprising two successive Hough transforms.

Pour la recherche d'une chaînette correspondant à l'équation [z=a*cosh((λ-b)/a)+c], pour chaque point de mesure de chaque plan vertical, et pour chaque valeur possible d'un paramètre a de chaînette, on calcule une transformée de Hough à deux dimensions (dans l'espace des paramètres b et c) des chaînettes passant par ce point.For the search for a chain corresponding to the equation [z = a * cosh ((λ-b) / a) + c], for each measurement point of each vertical plane, and for each possible value of a parameter a chain, a two-dimensional Hough transform (in the parameter space b and c) of the chains passing through this point is calculated.

Le document « Automatic extraction of vertical obstruction information from interferometric SAR elevation data » de WOODS Donald et al. (publication IEEE : congrès IGARSS 2004) donne une méthode de calcul de la hauteur et la localisation des obstacles verticaux à partir d'un modèle numérique de terrain permettant d'extraire les points sommitaux.The document "Automatic extraction of vertical obstruction information from interferometric SAR elevation data" by WOODS Donald et al. (IEEE publication: IGARSS 2004 conference) gives a method for calculating the height and location of vertical obstacles from a digital terrain model to extract the top points.

Ces divers dispositifs sont efficaces. Cependant, les senseurs actifs de détection d'obstacles sont notamment limités par la technique de détection des obstacles filaires qui ne permet pas de détecter les obstacles filaires à partir d'une incidence seuil du signal émis par rapport à l'obstacle filaire de l'ordre de 15° avec un RADAR et de l'ordre de 60° avec un LIDAR. A partir de cette incidence, la réflexion devient spéculaire et la détection des câbles n'est plus possible.These various devices are effective. However, the active obstacle detection sensors are limited in particular by the wired obstacle detection technique which does not make it possible to detect the wired obstacles from a threshold incidence of the transmitted signal with respect to the wired obstacle of the order of 15 ° with a RADAR and of the order of 60 ° with a LIDAR. From this incidence, the reflection becomes specular and the detection of the cables is no longer possible.

Les bases d'élévation de terrain actuelles ne permettent pas de voler au plus prêt du terrain car la détection des obstacles filaires n'est pas garantie. Le pilote est ainsi obligé de voler au-dessus du terrain avec une certaine marge de sécurité.The current elevation bases do not allow to fly closer to the ground because the detection of wire obstacles is not guaranteed. The pilot is thus obliged to fly over the field with a certain margin of safety.

Des systèmes avec base de données d'obstacles existent mais celles-ci sont incomplètes, ne sont pas garanties par le constructeur et fournies pour information uniquement.Systems with database of obstacles exist but these are incomplete, are not guaranteed by the manufacturer and provided for information only.

On note que l'état de la technique inclut de plus le document US 2007/171094 , le document US 2003/225489 , le document FR 2 895 098 , le document US 2004/267413 et le document ZHAO M ET AL : « A method to identify flight obstacles on digital surface model » (TSINGHUA SCIENCE AND TECHNOLOGIE, TSINGHUA UNIVERSITY PRESS, BEIJING, CN, vol 10, n°3, 1 juin 2005 ).It should be noted that the state of the art also includes the document US 2007/171094 , the document US 2003/225489 , the document FR 2 895 098 , the document US 2004/267413 and the document ZHAO M ET AL: TSINGHUA SCIENCE AND TECHNOLOGY, TSINGHUA UNIVERSITY PRESS, BEIJING, CN, vol. 10, no. 3, June 1, 2005 ).

La présente invention a alors pour objet de proposer un dispositif permettant de s'affranchir des limitations mentionnées ci-dessus.The present invention therefore aims to provide a device to overcome the limitations mentioned above.

Selon l'invention, un procédé pour réaliser une base de données sécurisée afin de voler à l'aide d'un aéronef à basse altitude de manière sécurisée est notamment remarquable en ce que :

  • on détermine un relief non sécurisé du terrain et la position d'au moins un point sommital représentant un obstacle surplombant ce relief non sécurisé en utilisant une base de données primaire du terrain contenant le relief non sécurisé et ledit obstacle,
  • on ajoute au relief non sécurisé un volume principal délimité entre une base du volume principal disposée sur le relief non sécurisé et une enveloppe pour obtenir un relief sécurisé à survoler contenant au moins le relief non sécurisé et le volume principal, la base du volume principal ayant une surface délimitée par une courbe périphérique fermée reposant sur le relief non sécurisé, l'enveloppe étant engendrée à l'aide d'un segment mobile d'une longueur prédéterminée allant du point sommital vers un deuxième point mobile le long de ladite courbe périphérique, ledit segment ayant une longueur prédéterminée.
According to the invention, a method for producing a secure database in order to fly using a low-altitude aircraft in a secure manner is notably remarkable in that:
  • determining an unsecured terrain relief and the position of at least one vertex point representing an obstacle overhanging this unsecured relief by using a primary database of the terrain containing the unsecured relief and said obstacle,
  • unsecured relief is added a main volume delimited between a base of the main volume disposed on the unsecured relief and an envelope to obtain a safe relief overflight containing at least the unsecured relief and the main volume, the base of the main volume having a surface delimited by a closed peripheral curve resting on the unsecured relief, the envelope being generated by means of a mobile segment of a length predetermined from the vertex to a second moving point along said peripheral curve, said segment having a predetermined length.

Dès lors, on vole en utilisant la base de données de sécurisée.From then on, we fly using the secure database.

Il est à noter que l'on entend par « relief non sécurisé » la surface représentative du sol du terrain. Le relief est dit non sécurisé dans la mesure où il ne comprend pas les obstacles filaires et non filaires susceptibles d'être percutés par un aéronef en vol.It should be noted that the term "non-secure terrain" means the representative surface of the ground of the ground. The terrain is unsecured as it does not include wired and non-wired obstacles that may be struck by an aircraft in flight.

Ainsi, on utilise dans un premier temps une base de données primaire pour en extraire le relief non sécurisé et les points sommitaux représentant des obstacles en surplomb du sol et donc du relief non sécurisé.Thus, a primary database is first used to extract the unsecured relief and the top points representing obstacles overhanging the ground and therefore unsecured terrain.

Ensuite, à partir d'au moins un point sommital, on construit un volume principal compris entre le relief non sécurisé et le point sommital. Favorablement mais non obligatoirement, on construit un volume principal par point sommital.Then, from at least one top point, we build a main volume between the unsecured relief and the top point. Favorably but not necessarily, one builds a principal volume by summit point.

Le volume principal est bâti à l'aide d'une génératrice de type segment compris entre deux points, un premier point extrémal étant fixe et étant situé au point sommital choisi et un deuxième point extrémal étant un deuxième point mobile pour construire l'enveloppe. Le deuxième point est alors mobile le long d'une courbe périphérique suivant le relief non sécurisé et délimitant la base du volume principal. Ce volume principal est alors un cône, la base du volume principal en forme de cône reposant sur le relief non sécurisé et possédant de fait une forme pouvant être complexe et tridimensionnelle.The main volume is constructed using a segment-type generator between two points, a first end point being fixed and being located at the selected top point and a second end point being a second moving point for constructing the envelope. The second point is then movable along a peripheral curve following the unsecured relief and delimiting the base of the main volume. This main volume is then a cone, the base of the main volume in the form of a cone resting on the unsecured relief and having in fact a shape that can be complex and three-dimensional.

Si le relief est plan, on comprend que la base du volume principal est circulaire.If the relief is flat, we understand that the base of the main volume is circular.

Le segment à l'origine de chaque volume principal représente alors un câble susceptible de s'étendre à partir d'un point sommital. Selon l'invention, on considère que chaque point sommital est potentiellement le point haut d'un montant en élévation, par exemple un poteau ou un pylône électrique porteur de câbles électriques.The segment at the origin of each main volume then represents a cable likely to extend from a summit point. According to the invention, it is considered that each peak point is potentially the high point of an amount in elevation, for example a pole or an electric pylon carrying electric cables.

Dans ce cas, on exclut alors du domaine de vol l'ensemble du volume principal pouvant accueillir un câble électrique. En construisant un relief sécurisé par rapport aux obstacles non filaires et filaires, on sécurise alors le vol à basse altitude.In this case, it excludes from the field of flight the entire main volume that can accommodate an electric cable. By building a secure terrain over non-wired and wireframe obstacles, low altitude flight is secured.

Par conséquent, on construit un relief sécurisé résultant notamment de la fusion des volumes principaux déterminés et du relief non sécurisé extrait.Consequently, a secure relief resulting from the merger of the determined principal volumes and the extracted non-secured relief is constructed.

On note que le relief sécurisé peut être déterminé au sol, ou encore en temps réel en vol.It is noted that the secure relief can be determined on the ground, or even in real time in flight.

Selon d'autres aspects, le procédé selon l'invention peut comporter des caractéristiques additionnelles.In other aspects, the method according to the invention may include additional features.

Par exemple, une distance maximale séparant un premier montant en élévation et un deuxième montant en élévation lié au premier montant en élévation par un obstacle filaire d'une ligne électrique, la longueur prédéterminée est égale à la distance maximale. Eventuellement, la longueur prédéterminée vaut 300 mètres.For example, a maximum distance separating a first amount in elevation and a second amount in elevation related to the first amount in elevation by a wire obstacle of a power line, the predetermined length is equal to the maximum distance. Optionally, the predetermined length is 300 meters.

Optionnellement, au moins deux points sommitaux surplombant le relief, une droite de liaison reliant les deux points sommitaux ayant une longueur de liaison inférieure à la longueur prédéterminée, on ajoute au relief non sécurisé un volume secondaire séparant la droite de liaison d'une projection orthogonale de cette droite de liaison sur le relief non sécurisé pour optimiser le relief sécurisé.Optionally, at least two summit points overhanging the relief, a connecting straight line connecting the two summit points having a link length less than the length predetermined, unsecured relief is added a secondary volume separating the connecting line of an orthogonal projection of this connecting line on the non-secure relief to optimize the secure relief.

Par ailleurs, selon une première réalisation on utilise une base de données primaire construite préalablement, à savoir une base de données non sécurisée déjà construite incluant des obstacles.Moreover, according to a first embodiment, a primary database constructed previously is used, namely an already built insecure database including obstacles.

Selon une deuxième réalisation, on fabrique la base de données primaire. Ainsi, on utilise une base de données secondaire contenant uniquement le relief non sécurisé et on enrichit la base de données secondaire à l'aide d'obstacles détectés par un moyen de détection d'obstacles pour obtenir la base de données primaire.According to a second embodiment, the primary database is manufactured. Thus, a secondary database containing only the unsecured terrain is used and the secondary database is enriched with obstacles detected by an obstacle detection means to obtain the primary database.

Par suite, on met en oeuvre un moyen de détection d'obstacles de type radar, LIDAR ou encore sonar, pour détecter des obstacles surplombant le sol, à savoir le relief non sécurisé, puis on mémorise conjointement les obstacles et le relief non sécurisé sur une mémoire pour bâtir la base de données primaire.As a result, a radar-type obstacle detection device, LIDAR or sonar, is used to detect obstacles overlooking the ground, namely the unsecured terrain, and then the obstacles and the non-secure terrain are memorized together. a memory to build the primary database.

La construction de la base de données primaire peut être réalisée au sol à l'issue d'un ou plusieurs vols de recherche d'obstacles, ou encore en vol en temps réel.The construction of the primary database can be done on the ground after one or more obstacle search flights, or in real time flight.

Selon un autre aspect, on ajoute au relief non sécurisé un volume de protection déterminé et positionné par un opérateur pour optimiser le relief sécurisé. Par exemple, le pilote choisit d'exclure une zone de vol manuellement préalablement ou pendant le vol, pour éviter une zone ayant des conditions atmosphériques délicates, éventuellement.According to another aspect, unsecured relief is added to a protective volume determined and positioned by an operator to optimize the secure relief. For example, the pilot chooses to exclude a flight zone manually before or during the flight, to avoid an area having delicate atmospheric conditions, possibly.

En outre, on enregistre le relief sécurisé pour réaliser une base de données sécurisée réutilisable du terrain englobant les obstacles filaires et non filaires. Cette caractéristique est notamment intéressante lorsque l'on établit le relief sécurisé en vol en temps réel. La mémorisation de ce relief sécurisé permet en effet de le réutiliser ultérieurement.In addition, the secure terrain is recorded to provide a secure reusable terrain database that includes both wired and non-wired obstacles. This characteristic is particularly interesting when establishing the secure terrain in flight in real time. The memorization of this secure relief makes it possible to reuse it later.

L'invention a de plus pour objet un dispositif pour réaliser une base de données sécurisée afin de voler à l'aide d'un aéronef à basse altitude de manière sécurisée apte à mettre en oeuvre le procédé selon l'invention. Ce dispositif comporte :

  • une base de données primaire contenant au moins un relief non sécurisé du terrain à survoler et un obstacle surplombant ce relief non sécurisé, et
  • un calculateur primaire pour ajouter au relief non sécurisé au moins un volume principal délimité entre une base du volume principal disposée sur le relief et une enveloppe pour obtenir un relief sécurisé à survoler contenant au moins le relief non sécurisé et le volume principal, la base du volume principal ayant une surface délimitée par une courbe périphérique fermée reposant sur ledit relief, ladite enveloppe étant engendrée à l'aide d'un segment mobile d'une longueur prédéterminée allant dudit point sommital vers un deuxième point mobile le long de ladite courbe périphérique, ledit segment ayant une longueur prédéterminée.
The invention furthermore relates to a device for producing a secure database in order to fly using a low altitude aircraft in a secure manner capable of implementing the method according to the invention. This device comprises:
  • a primary database containing at least one unsecured terrain of the terrain to be overflown and an obstacle overhanging the unsecured relief, and
  • a primary calculator for adding to the unsecured relief at least one main volume delimited between a base of the main volume disposed on the relief and an envelope to obtain a safe overflight relief containing at least the unsecured relief and the main volume, the base of the main volume having a surface delimited by a closed peripheral curve resting on said relief, said envelope being generated by means of a movable segment of a predetermined length from said summit point to a second moving point along said peripheral curve, said segment having a predetermined length.

Le calculateur primaire est par exemple un processeur ou un microprocesseur, muni éventuellement d'une mémoire, ou tout autre moyen équivalent.The primary computer is for example a processor or a microprocessor, possibly equipped with a memory, or any other equivalent means.

Ce dispositif peut être agencé au moins partiellement dans un aéronef ou au sol.This device can be arranged at least partially in an aircraft or on the ground.

Par ailleurs, le dispositif peut comprendre:

  • une base de données secondaire contenant uniquement le relief non sécurisé,
  • un moyen de détection d'obstacles actif, et
  • un calculateur secondaire pour enrichir ladite base de données secondaire à l'aide d'obstacles détectés par un moyen de détection d'obstacles afin d'obtenir ladite base de données primaire.
Moreover, the device can comprise:
  • a secondary database containing only the unsecured terrain,
  • an active obstacle detection means, and
  • a secondary computer for enriching said secondary database with obstacles detected by an obstacle detection means to obtain said primary database.

Le calculateur secondaire est par exemple un processeur ou un microprocesseur, muni éventuellement d'une mémoire, ou tout autre moyen équivalent. Le moyen de détection d'obstacles peut être du type LIDAR, radar ou encore sonar.The secondary computer is for example a processor or a microprocessor, optionally provided with a memory, or any other equivalent means. The obstacle detection means may be of the LIDAR, radar or sonar type.

Le moyen de détection d'obstacle peut de plus posséder un détecteur en tant que tel et une mémoire de stockage, optionnellement déportée, mémorisant les obstacles détectés.The obstacle detection means may further have a detector as such and a storage memory, optionally remote, storing the detected obstacles.

Les autres éléments du dispositif peuvent être agencés dans un aéronef ou au sol.The other elements of the device can be arranged in an aircraft or on the ground.

Enfin, le dispositif peut comporter un moyen d'interface pour qu'un opérateur ajoute au relief non sécurisé un volume de protection déterminé et positionné par cet opérateur pour optimiser le relief sécurisé.Finally, the device may comprise an interface means for an operator to add to the unsecured relief a protection volume determined and positioned by this operator to optimize the secure relief.

L'invention et ses avantages apparaîtront avec plus de détails dans le cadre de la description qui suit avec des exemples de réalisation donnés à titre illustratif en référence aux figures annexées qui représentent :

  • la figure 1, un schéma explicitant le procédé selon l'invention,
  • la figure 2, un schéma explicitant la construction d'un volume primaire,
  • la figure 3, une coupe présentant la construction d'un volume primaire sur un relief accidenté,
  • la figure 4, une coupe explicitant une variante de l'invention, et
  • la figure 5, un schéma explicitant un dispositif selon l'invention,
The invention and its advantages will appear in more detail in the context of the description which follows, with exemplary embodiments given by way of illustration with reference to the appended figures which represent:
  • the figure 1 , a diagram explaining the method according to the invention,
  • the figure 2 , a diagram explaining the construction of a primary volume,
  • the figure 3 , a section showing the construction of a primary volume on a rugged terrain,
  • the figure 4 , a section explaining a variant of the invention, and
  • the figure 5 , a diagram explaining a device according to the invention,

Les éléments présents dans plusieurs figures distinctes sont affectés d'une seule et même référence.The elements present in several separate figures are assigned a single reference.

La figure 1 illustre le procédé selon l'invention.The figure 1 illustrates the process according to the invention.

Durant une première étape P1, on détermine un relief non sécurisé.During a first step P1, an unsecured relief is determined.

De plus, durant une deuxième étape P2, éventuellement réalisée en parallèle à la première étape P1, on détermine au moins un point sommital représentant un obstacle surplombant le sol et donc le relief non sécurisé.In addition, during a second step P2, possibly performed in parallel with the first step P1, at least one top point is determined representing an obstacle overlooking the ground and therefore the unsecured relief.

Pour réaliser les première et deuxième étapes P1 et P2, on utilise une base de données primaire contenant au moins un relief non sécurisé du terrain à survoler et les obstacles surplombant ce relief non sécurisé.In order to carry out the first and second steps P1 and P2, a primary database containing at least one unsecured terrain of the terrain to be overflown and obstacles overlooking this unsecured terrain is used.

Selon un premier mode de réalisation, on fait appel à une base de données primaire, éventuellement disponible dans le commerce.According to a first embodiment, use is made of a primary database, possibly commercially available.

Selon un deuxième mode de réalisation, on établit la base de données primaire à partir d'une base de données secondaire contenant le relief non sécurisé du terrain qui est enrichie à l'aide d'obstacles détectés par un moyen de détection d'obstacles afin d'obtenir ladite base de données primaire, la base de données secondaire étant disponible dans le commerce ou obtenue par des méthodes usuelles.According to a second embodiment, the primary database is established from a secondary database containing the unsecured terrain relief that is enriched with obstacles detected by an obstacle detection means to obtain said primary database, the secondary database being commercially available or obtained by means of usual methods.

Durant une troisième étape P3, on considère que chaque point sommital peut être relié à un obstacle filaire. Dès lors, on ajoute audit relief non sécurisé un volume principal pour obtenir un relief sécurisé pouvant être survolé sans danger. Ce relief sécurisé contient donc au moins le relief non sécurisé et l'ensemble des volumes principaux ajoutés.During a third step P3, it is considered that each peak point can be connected to a wire obstacle. Therefore, adding to said unsecured relief a main volume to obtain a safe relief that can be overflown safely. This secure relief therefore contains at least the unsecured relief and all the main volumes added.

En référence à la figure 2, on note que chaque volume principal V0 est délimité d'une part par une base 2 du volume principal disposée sur le relief non sécurisé R0 et, d'autre part, par une enveloppe 1.With reference to the figure 2 , it is noted that each main volume V0 is delimited on the one hand by a base 2 of the main volume disposed on the unsecured relief R0 and, on the other hand, by a casing 1.

La base 2 du volume principal a une surface 2' délimitée par une courbe périphérique 3 fermée reposant sur le relief non sécurisé R0.The base 2 of the main volume has a surface 2 'delimited by a closed peripheral curve 3 resting on the unsecured relief R0.

De plus, l'enveloppe 2 est engendrée à l'aide d'un segment S mobile, dont deux positions S1 et S2 sont représentées sur la figure 2, le segment mobile ayant une longueur prédéterminée L. De plus, chaque obstacle filaire s'étendant sur une distance maximale définie par des normes d'un premier montant en élévation à un deuxième montant en élévation de types poteaux électriques, la longueur prédéterminée prise en considération est égale à ladite distance maximale.In addition, the envelope 2 is generated using a mobile segment S, whose two positions S1 and S2 are represented on the figure 2 the moving segment having a predetermined length L. In addition, each wire obstacle extending over a maximum distance defined by standards from a first amount in elevation to a second amount of elevation of types electric poles, the predetermined length taken into consideration is equal to said maximum distance.

Pour construire le volume principal V0, on dispose un premier point extrémal du segment sur le point sommital 4 et on laisse reposer le deuxième point extrémal 3' sur le relief non sécurisé R0. Le segment étant une génératrice, on fait effectuer une rotation au segment S sur le relief non sécurisé R0 autour d'un axe AX dirigé selon la pesanteur, en prenant soin de maintenir le deuxième point extrémal 3' sur le relief non sécurisé R0. Le deuxième point extrémal 3' est alors un deuxième point mobile du segment S et parcourt la courbe périphérique 3 de la base 2 du volume principal.To build the main volume V0, we have a first extremal point of the segment on the top point 4 and we let rest the second extremal point 3 'on the unsecured relief R0. Since the segment is a generator, the segment S is rotated on the unsecured relief R0 around an axis AX directed according to gravity, taking care to maintain the second extremal point 3 'on the unsecured relief R0. The second extremal point 3 'is then a second mobile point of the segment S and travels the peripheral curve 3 of the base 2 of the main volume.

Lorsque le relief non sécurisé est plat à l'instar de l'exemple représenté sur la figure 2, la base du volume principal V0 en forme de cône est circulaire et présente une symétrie de révolution.When the unsecured relief is flat like the example shown on the figure 2 , the base of the main volume V0 cone-shaped is circular and has a symmetry of revolution.

Néanmoins, en référence à la figure 3, lorsque le relief non sécurisé est accidenté, par exemple sur le flanc d'une colline, la base du volume principal peut avoir une toute autre forme.Nevertheless, with reference to figure 3 when the unsecured relief is uneven, for example on the side of a hill, the base of the main volume may have a different shape.

En ajoutant chaque volume principal V0 au relief non sécurisé, on obtient un relief sécurisé R1.By adding each main volume V0 to the unsecured relief, a secured relief R1 is obtained.

En référence à la figure 1, conformément à une étape optionnelle P5, on ajoute au relief non sécurisé un volume de protection.With reference to the figure 1 according to an optional step P5, a protective volume is added to the unsecured relief.

En référence à la figure 2, le volume de protection V4 est déterminé et positionné par un opérateur. Ce volume de protection peut servir à éviter une zone interdite de survol ou encore subissant de fortes intempéries atmosphériques par exemple.With reference to the figure 2 , the protection volume V4 is determined and positioned by an operator. This volume of protection can be used to avoid a forbidden overflight zone or even subjected to severe atmospheric weather for example.

En référence à la figure 1, lorsque deux points sommitaux surplombent le relief non sécurisé, une droite de liaison reliant ces deux points sommitaux ayant une longueur de liaison inférieure à la longueur prédéterminée, il est possible que ces deux points sommitaux soient reliés par un obstacle filaire. Dès lors, durant une étape optionnelle P6, on ajoute au relief non sécurisé un volume secondaire pour exclure de tels obstacles filaires.With reference to the figure 1 when two uppermost points overhang the unsecured relief, a connecting straight line connecting these two points having a lower link length to the predetermined length, it is possible that these two points summit are connected by a wire obstacle. Therefore, during an optional step P6, unsecured relief is added a secondary volume to exclude such wire obstacles.

La figure 4 explicite une telle configuration.The figure 4 explicit such a configuration.

Le relief sécurisé R1 comprend alors le relief non sécurisé R0 ainsi qu'un premier volume principal V1 susceptible de contenir un obstacle filaire partant du premier point sommital 4 d'un premier montant en élévation 4', un poteau ou un pylône par exemple. De plus, le relief sécurisé R1 comprend un deuxième volume principal V2 susceptible de contenir un obstacle filaire partant du deuxième point sommital 5 d'un deuxième montant en élévation 5', un poteau ou un pylône notamment.The secure relief R1 then comprises the unsecured relief R0 and a first main volume V1 may contain a wire obstacle from the first top point 4 of a first amount in elevation 4 ', a pole or a pylon, for example. In addition, the secure relief R1 comprises a second main volume V2 may contain a wire obstacle from the second summit point 5 of a second amount in elevation 5 ', a pole or a pylon in particular.

En outre, la droite de liaison reliant le premier point sommital au deuxième point sommital présente une longueur de liaison D1 inférieure à la longueur prédéterminée L des segments générateurs des premier et deuxième volumes principaux V1, V2. Dès lors, le relief sécurisé R1 comporte un volume secondaire V3, délimité par :

  • la droite de liaison 6 à laquelle on donne une épaisseur prédéterminée, par exemple un mètre,
  • une projection orthogonale 7 de cette droite de liaison 6 sur le relief non sécurisé à laquelle on donne ladite épaisseur prédéterminée,
  • une première paroi latérale ayant ladite épaisseur prédéterminée qui passe par le premier point sommital en étant dirigée selon la pesanteur pour représenter le premier montant en élévation 4, et
  • une deuxième paroi latérale ayant ladite épaisseur prédéterminée qui passe par le deuxième point sommital en étant dirigée selon la pesanteur pour représenter le deuxième montant en élévation 5.
In addition, the connecting straight line connecting the first top point to the second top point has a link length D1 less than the predetermined length L of the generating segments of the first and second main volumes V1, V2. Therefore, the secure relief R1 comprises a secondary volume V3, delimited by:
  • the connecting line 6 to which a predetermined thickness is given, for example a meter,
  • an orthogonal projection 7 of this connecting line 6 on the unsecured relief to which said predetermined thickness is given,
  • a first side wall having said predetermined thickness which passes through the first top point being gravity-directed to represent the first elevation leg 4, and
  • a second side wall having said predetermined thickness passing through the second top point being gravity-directed to represent the second elevation leg 5.

Enfin, durant une étape finale P4 représentée sur la figure 1, on peut enregistrer le relief sécurisé pour obtenir une base de données sécurisée réutilisable.Finally, during a final stage P4 represented on the figure 1 the secure relief can be saved to obtain a reusable secure database.

La figure 5 présente un dispositif pour voler à l'aide d'un aéronef à basse altitude de manière sécurisée apte à mettre en oeuvre le procédé selon l'invention.The figure 5 has a device for flying using a low altitude aircraft in a secure manner adapted to implement the method according to the invention.

Ce dispositif est muni d'une base de données primaire 10 stockant un relief non sécurisé R0 et au moins un point sommital 4, 5 représentant des obstacles localisés en surplomb de ce relief non sécurisé R0. Il est à noter que le dispositif peut être agencé dans un aéronef 100.This device is provided with a primary database 10 storing an unsecured relief R0 and at least one top point 4, 5 representing localized obstacles overhanging this unsecured relief R0. It should be noted that the device can be arranged in an aircraft 100.

De plus, le dispositif est muni d'un calculateur primaire 20, pourvu d'un microprocesseur ou d'un microcontrôleur 21 et d'une mémoire 22 par exemple, pour déterminer le relief sécurisé par l'adjonction au relief non sécurisé d'au moins un volume principal voire d'au moins un volume secondaire. En outre, le dispositif peut être muni d'un moyen d'interface 30 permettant à un opérateur d'ajouter au moins un volume de protection.In addition, the device is provided with a primary computer 20, provided with a microprocessor or a microcontroller 21 and a memory 22 for example, to determine the secured relief by the addition to the unsecured relief of the least one main volume or at least one secondary volume. In addition, the device may be provided with an interface means 30 enabling an operator to add at least one protection volume.

Par ailleurs, selon une option, le dispositif comprend une base de données secondaire 11, un moyen de détection d'obstacles 12 et un calculateur secondaire 13, tel qu'un microcontrôleur ou un microprocesseur par exemple.In addition, according to one option, the device comprises a secondary database 11, an obstacle detection means 12 and a secondary computer 13, such as a microcontroller or a microprocessor for example.

Le calculateur secondaire construit alors la base de données primaire 10 en enrichissant la base de données secondaire avec les obstacles mise à jour par le moyen de détection d'obstacles.The secondary computer then builds the primary database 10 by enriching the secondary database with the obstacles updated by the obstacle detection means.

Naturellement, la présente invention est sujette à de nombreuses variations quant à sa mise en oeuvre. Bien que plusieurs modes de réalisation aient été décrits, on comprend bien qu'il n'est pas concevable d'identifier de manière exhaustive tous les modes possibles. Il est bien sûr envisageable de remplacer un moyen décrit par un moyen équivalent sans sortir du cadre de la présente invention.Naturally, the present invention is subject to many variations as to its implementation. Although several embodiments have been described, it is understandable that it is not conceivable to exhaustively identify all the possible modes. It is of course conceivable to replace a means described by equivalent means without departing from the scope of the present invention.

Claims (9)

Procédé pour réaliser une base de données sécurisée afin de voler à l'aide d'un aéronef à basse altitude de manière sécurisée, au cours duquel : - on détermine un relief non sécurisé (R0) dudit terrain et la position d'au moins un point sommital (4, 5) représentant un obstacle (4', 5') surplombant ledit relief non sécurisé (R0) en utilisant une base de données primaire (10) dudit terrain contenant ledit relief non sécurisé (R0) et ledit obstacle (4', 5'), - on ajoute audit relief non sécurisé (R0) un volume principal (V0) délimité entre une base (2) du volume principal disposée sur le relief non sécurisé (R0) et une enveloppe (1) pour obtenir un relief sécurisé (R1) à survoler contenant au moins ledit relief non sécurisé (R0) et ledit volume principal (V0), ladite base (2) du volume principal ayant une surface (2') délimitée par une courbe périphérique (3) fermée reposant sur ledit relief non sécurisé (R0), ladite enveloppe (1) étant engendrée à l'aide d'un segment (S) mobile d'une longueur prédéterminée (L) allant dudit point sommital (4, 5) vers un deuxième point mobile (3') le long de ladite courbe périphérique (3). A method for providing a secure database for safely flying a low-level aircraft in which: an unsecured relief ( R0 ) of said terrain is determined and the position of at least one top point (4, 5) representing an obstacle (4 ', 5') overhanging said unsecured relief ( R0 ) using a base of primary data (10) of said terrain containing said unsecured relief ( R0 ) and said obstacle (4 ', 5'), said unsecured relief ( R0 ) is added to a main volume (V0) delimited between a base (2) of the main volume disposed on the unsecured relief ( R0 ) and an envelope (1) to obtain a secured relief ( R1 ) to overflight containing at least said unsecured relief ( R0 ) and said main volume (V0), said base (2) of the main volume having a surface (2 ') delimited by a closed peripheral curve (3) resting on said unsecured relief ( R0 ), said envelope (1) being generated by means of a movable segment ( S ) of a predetermined length ( L ) from said top point (4, 5) to a second moving point (3 ') along of said peripheral curve (3). Procédé selon la revendication 1,
caractérisé en ce que ladite longueur prédéterminée (L) est égale à une distance maximale séparant un premier montant en élévation (4') et un deuxième montant en élévation (5') lié au premier montant en élévation (4') par un obstacle filaire.Process according to claim 1,
characterized in that said predetermined length ( L ) is equal to a maximum distance separating a first amount in elevation (4 ') and a second amount in elevation (5') related to the first amount in elevation (4 ') by a wire obstacle . Procédé selon l'une quelconque des revendications précédentes,
caractérisé en ce que, au moins deux points sommitaux (4, 5) surplombant ledit relief, une droite de liaison (6) reliant lesdits deux points sommitaux (4, 5) ayant une longueur de liaison (D1) inférieure à ladite longueur prédéterminée (L) et une épaisseur prédéterminée, on ajoute audit relief non sécurisé (R0) une volume secondaire (V3) séparant ladite droite de liaison (6) d'une projection orthogonale (7) de cette droite de liaison sur ledit relief non sécurisé (R0) pour optimiser ledit relief sécurisé (R1).Method according to any one of the preceding claims,
characterized in that , at least two summit points (4, 5) overhanging said relief, a connecting straight line (6) connecting said two summit points (4, 5) having a connecting length (D1) less than said predetermined length ( L ) and a predetermined thickness, is added to said unsecured relief ( R0 ) a secondary volume (V3) separating said connecting line (6) from an orthogonal projection (7) of this connecting line on said unsecured relief ( R0 ) to optimize said secure relief ( R1 ). Procédé selon l'une quelconque des revendications précédentes,
caractérisé en ce que on utilise une base de données secondaire (11) contenant uniquement ledit relief non sécurisé (R0) et on enrichit ladite base de données secondaire (11) à l'aide d'obstacles détectés par un moyen de détection d'obstacles (12) pour obtenir ladite base de données primaire (10).Method according to any one of the preceding claims,
characterized in that a secondary database (11) containing only said unsecured relief ( R0 ) is used and said secondary database (11) is enriched with obstacles detected by an obstacle detection means (12) to obtain said primary database (10). Procédé selon l'une quelconque des revendications précédentes,
caractérisé en ce que l'on ajoute au relief non sécurisé (R0) un volume de protection (V4) déterminé et positionné par un opérateur pour optimiser ledit relief sécurisé (R1).Method according to any one of the preceding claims,
characterized in that a protective volume (V4) determined and positioned by an operator to optimize said secured relief ( R1 ) is added to the unsecured relief ( R0 ). Procédé selon l'une quelconque des revendications 1 à 5,
caractérisé en ce que l'on enregistre ledit relief sécurisé (R1) pour réaliser une base de données sécurisée réutilisable dudit terrain englobant les obstacles filaires et non filaires.Process according to any one of claims 1 to 5,
characterized in that said secure relief ( R1 ) is recorded to provide a reusable secure database of said terrain encompassing the wired and non-wired obstacles. Dispositif pour réaliser une base de données sécurisée afin de voler à l'aide d'un aéronef à basse altitude de manière sécurisée,
caractérisé en ce qu'il comporte : - une base de données primaire (10) contenant au moins un relief non sécurisé (R0) du terrain à survoler et un obstacle surplombant ledit relief non sécurisé (R0), et - un calculateur primaire (20) pour ajouter audit relief non sécurisé (R0) au moins un volume principal (V0) délimité entre une base (2) du volume principal disposée sur le relief non sécurisé (R0) et une enveloppe (1) pour obtenir un relief sécurisé (R1) à survoler contenant au moins ledit relief non sécurisé (R0) et ledit volume principal (V0), ladite base (2) du volume principal ayant une surface (2') délimitée par une courbe périphérique (3) fermée reposant sur ledit relief non sécurisé (R0), ladite enveloppe (1) étant engendrée à l'aide d'un segment (S) mobile d'une longueur prédéterminée (L) allant dudit point sommital (4) vers un deuxième point (3') mobile le long de ladite courbe périphérique. Device for making a secure database to fly using a low altitude aircraft in a secure manner,
characterized in that it comprises: a primary database (10) containing at least one unsecured relief ( R0 ) of the terrain to be overflown and an obstacle overhanging said unsecured relief ( R0 ), and a primary calculator (20) for adding to said unsecured relief ( R0 ) at least one main volume (V0) delimited between a base (2) of the main volume disposed on the unsecured relief ( R0 ) and an envelope (1) for obtaining a secured relief ( R1 ) to fly over containing at least said unsecured relief ( R0 ) and said main volume (V0), said base (2) of the main volume having a surface (2 ') delimited by a peripheral curve (3) closed resting on said unsecured relief ( R0 ), said envelope (1) being generated by means of a movable segment (S) of a predetermined length ( L ) from said summit point (4) to a second point ( 3 ') movable along said peripheral curve. Dispositif selon la revendication 7,
caractérisé en ce qu'il comprend : - une base de données secondaire (11) contenant uniquement ledit relief non sécurisé (R0), - un moyen de détection d'obstacles (12) actif, et - un calculateur secondaire (13) pour enrichir ladite base de données secondaire (11) à l'aide d'obstacles (4', 5') détectés par un moyen de détection d'obstacles (12) afin d'obtenir ladite base de données primaire (10). Device according to claim 7,
characterized in that it comprises: a secondary database (11) containing only said unsecured relief ( R0 ), an obstacle detection means (12) active, and a secondary computer (13) for enriching said secondary database (11) with obstacles (4 ', 5') detected by an obstacle detection means (12) in order to obtain said base of primary data (10). Dispositif selon la revendication 7,
caractérisé en ce qu'il comporte un moyen d'interface (30) pour qu'un opérateur ajoute au relief non sécurisé (R0) un volume de protection (V4) déterminé et positionné par ledit opérateur pour optimiser ledit relief sécurisé (R1).Device according to claim 7,
characterized in that it comprises an interface means (30) for an operator to add to the unsecured relief ( R0 ) a protection volume (V4) determined and positioned by said operator to optimize said secured relief ( R1 ).
EP11001655.7A 2010-03-15 2011-03-01 Method and apparatus for secure low-level flights of an aircraft Active EP2367163B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR1001024A FR2957447B1 (en) 2010-03-15 2010-03-15 METHOD AND APPARATUS FOR FLYING WITH LOW ALTITUDE AIRCRAFT IN A SECURE MANNER

Publications (2)

Publication Number Publication Date
EP2367163A1 true EP2367163A1 (en) 2011-09-21
EP2367163B1 EP2367163B1 (en) 2017-09-27

Family

ID=43086892

Family Applications (1)

Application Number Title Priority Date Filing Date
EP11001655.7A Active EP2367163B1 (en) 2010-03-15 2011-03-01 Method and apparatus for secure low-level flights of an aircraft

Country Status (5)

Country Link
US (1) US8392475B2 (en)
EP (1) EP2367163B1 (en)
JP (1) JP5143248B2 (en)
FR (1) FR2957447B1 (en)
IL (1) IL211550A (en)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2957447B1 (en) * 2010-03-15 2012-10-26 Eurocopter France METHOD AND APPARATUS FOR FLYING WITH LOW ALTITUDE AIRCRAFT IN A SECURE MANNER
CN102590823B (en) * 2012-01-06 2014-05-07 中国测绘科学研究院 Rapid extraction and reconstruction method for data power line of airborne LIDAR
NO340705B1 (en) * 2014-12-22 2017-06-06 Kleon Prosjekt As Method and apparatus for detecting an airspace from an aircraft
US9583011B2 (en) * 2015-01-28 2017-02-28 Airbus Helicopters Aircraft system for signaling the presence of an obstacle, an aircraft equipped with this system, and method for the detection of an obstacle
FR3101432B1 (en) 2019-09-27 2021-09-03 Airbus Helicopters Wired obstacle detection method and system for aircraft

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3069654A (en) 1960-03-25 1962-12-18 Paul V C Hough Method and means for recognizing complex patterns
US5296909A (en) 1990-09-07 1994-03-22 Alenia Aeritalia & Selenia S.P.A. Detector of suspended cables for avionic applications
FR2736149A1 (en) 1988-09-08 1997-01-03 Messerschmitt Boelkow Blohm DEVICE FOR RECOGNIZING AND TRACKING OBJECTS
US20030225489A1 (en) 2002-05-31 2003-12-04 Steven Tsao Automated terrain awareness and avoidance system
US6747576B2 (en) 2000-11-09 2004-06-08 Astrium Gmbh Wire detection procedure for low-flying aircraft
US20040267413A1 (en) 2001-09-25 2004-12-30 Werner Keber Method and device for preventing unpermitted appoach of airplanes to objects on the ground which are to be protected
FR2895098A1 (en) 2005-12-20 2007-06-22 Thales Sa Terrain awareness warning system e.g. ground collision avoidance system, for aircraft, has computational block specifying alert messages emitted by alert generator based on penetration location of cartography representation of terrain
US20070171094A1 (en) 2006-01-20 2007-07-26 Keith Alter Real-time, three-dimensional synthetic vision display of sensor-validated terrain data

Family Cites Families (32)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3273148A (en) * 1959-12-14 1966-09-13 United Aircraft Corp Terrain-viewing system
US4247843A (en) * 1978-08-23 1981-01-27 Sperry Corporation Aircraft flight instrument display system
US4646244A (en) * 1984-02-02 1987-02-24 Sundstrand Data Control, Inc. Terrain advisory system
FR2723219B1 (en) * 1984-07-13 1997-01-24 Dassault Electronique METHOD AND DEVICE FOR AUTOMATICALLY CONTROLLING LOW-ALTITUDE OVER-FLIGHT AIRCRAFT
US4737788A (en) * 1985-04-04 1988-04-12 Motorola, Inc. Helicopter obstacle detector
US4812990A (en) * 1987-04-29 1989-03-14 Merit Technology Incorporated System and method for optimizing aircraft flight path
JPH01123711A (en) 1987-11-09 1989-05-16 Matsushita Electric Works Ltd Manufacture of fluoroplastic laminated sheet
JPH01123712A (en) 1987-11-10 1989-05-16 Mazda Motor Corp Mixing injection machine of reaction injection molding equipment
US5086396A (en) * 1989-02-02 1992-02-04 Honeywell Inc. Apparatus and method for an aircraft navigation system having improved mission management and survivability capabilities
GB9111086D0 (en) * 1991-05-22 1991-10-16 Marconi Gec Ltd Aircraft terrain and obstacle avoidance system
FR2689668B1 (en) * 1992-04-07 1994-05-20 Dassault Electronique FIELD ANTI-COLLISION PROCESS AND DEVICE FOR AIRCRAFT.
EP0750238B1 (en) * 1995-06-20 2000-03-01 Honeywell Inc. Integrated ground collision avoidance system
DE19605218C1 (en) * 1996-02-13 1997-04-17 Dornier Gmbh Obstacle warning system for low-flying aircraft
US5890079A (en) * 1996-12-17 1999-03-30 Levine; Seymour Remote aircraft flight recorder and advisory system
JP3038166B2 (en) * 1997-07-02 2000-05-08 川崎重工業株式会社 Obstacle detection system for aircraft
JP2983498B2 (en) * 1997-07-02 1999-11-29 川崎重工業株式会社 Aircraft obstacle detection method
US6317690B1 (en) * 1999-06-28 2001-11-13 Min-Chung Gia Path planning, terrain avoidance and situation awareness system for general aviation
US6216065B1 (en) * 1999-08-06 2001-04-10 Bell Helicopter Textron Inc. Method and system for creating an approach to a position on the ground from a location above the ground
FR2813963B1 (en) * 2000-09-08 2002-11-15 Thomson Csf IMPROVEMENTS TO THE VISUALIZATION OF ANTI-COLLISION DEVICES ON THE GROUND FOR AN AIRCRAFT
US6665063B2 (en) * 2001-09-04 2003-12-16 Rosemount Aerospace Inc. Distributed laser obstacle awareness system
US6650407B2 (en) * 2001-09-04 2003-11-18 Rosemount Aerospace Inc. Wide field scanning laser obstacle awareness system
IL154396A0 (en) * 2002-12-29 2009-02-11 Haim Niv
FR2852097B1 (en) * 2003-03-07 2005-05-06 METHOD AND DEVICE FOR CONSTRUCTING AN ENVIRONMENTAL SYNTHESIS IMAGE OF AN AIRCRAFT AND PRESENTING IT ON A SCREEN OF SAID AIRCRAFT
FR2860081B1 (en) * 2003-09-18 2005-12-02 Airbus France METHOD AND APPARATUS FOR FIELD EVACUATION FOR AN AIRCRAFT
FR2870606B1 (en) * 2004-05-18 2010-10-08 Airbus France METHOD AND DEVICE FOR SECURING A LOW ALTITUDE FLIGHT OF AN AIRCRAFT
FR2870604B1 (en) * 2004-05-18 2006-08-11 Airbus France Sas METHOD AND DEVICE FOR SECURING A LOW ALTITUDE FLIGHT OF AN AIRCRAFT
FR2870520B1 (en) * 2004-05-18 2007-08-03 Airbus France Sas METHOD AND DEVICE FOR DETERMINING SAFETY ALTITUDE FOR AN AIRCRAFT
FR2881533B1 (en) * 2005-01-31 2007-04-20 Airbus Sas METHOD AND APPARATUS FOR CONSTRUCTING A LOW ALTITUDE FLIGHT TRACK FOR AN AIRCRAFT FOLLOW
FR2893174B1 (en) * 2005-11-10 2008-01-25 Thales Sa METHOD FOR OPTIMIZING THE DISPLAY OF DATA RELATING TO OBSTACLE RISKS
US8509965B2 (en) * 2006-12-12 2013-08-13 American Gnc Corporation Integrated collision avoidance system for air vehicle
US8271197B2 (en) * 2009-05-29 2012-09-18 The Commonwealth Of Australia Department Of Defence Portable environmental monitoring instrument
FR2957447B1 (en) * 2010-03-15 2012-10-26 Eurocopter France METHOD AND APPARATUS FOR FLYING WITH LOW ALTITUDE AIRCRAFT IN A SECURE MANNER

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3069654A (en) 1960-03-25 1962-12-18 Paul V C Hough Method and means for recognizing complex patterns
FR2736149A1 (en) 1988-09-08 1997-01-03 Messerschmitt Boelkow Blohm DEVICE FOR RECOGNIZING AND TRACKING OBJECTS
US5762292A (en) 1988-09-08 1998-06-09 Daimler-Benz Aerospace Ag Apparatus for identification and tracking of objects
US5296909A (en) 1990-09-07 1994-03-22 Alenia Aeritalia & Selenia S.P.A. Detector of suspended cables for avionic applications
US6747576B2 (en) 2000-11-09 2004-06-08 Astrium Gmbh Wire detection procedure for low-flying aircraft
US20040267413A1 (en) 2001-09-25 2004-12-30 Werner Keber Method and device for preventing unpermitted appoach of airplanes to objects on the ground which are to be protected
US20030225489A1 (en) 2002-05-31 2003-12-04 Steven Tsao Automated terrain awareness and avoidance system
FR2895098A1 (en) 2005-12-20 2007-06-22 Thales Sa Terrain awareness warning system e.g. ground collision avoidance system, for aircraft, has computational block specifying alert messages emitted by alert generator based on penetration location of cartography representation of terrain
US20070171094A1 (en) 2006-01-20 2007-07-26 Keith Alter Real-time, three-dimensional synthetic vision display of sensor-validated terrain data

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
WOODS DONALD ET AL.: "Automatic extraction of vertical obstruction information from interferometric SAR elevation data", IEEE : CONGRÈS IGARSS, 2004
ZHAO M ET AL.: "TSINGHUA SCIENCE AND TECHNOLOGIE", vol. 10, 1 June 2005, TSINGHUA UNIVERSITY PRESS, article "A method to identify flight obstacles on digital surface model"
ZHAO M ET AL: "A Method to Identify Flight Obstacles on Digital Surface Model", TSINGHUA SCIENCE AND TECHNOLOGY, TSINGHUA UNIVERSITY PRESS, BEIJING, CN, vol. 10, no. 3, 1 June 2005 (2005-06-01), pages 323 - 327, XP022932881, ISSN: 1007-0214, [retrieved on 20050601], DOI: 10.1016/S1007-0214(05)70076-6 *

Also Published As

Publication number Publication date
US8392475B2 (en) 2013-03-05
FR2957447A1 (en) 2011-09-16
EP2367163B1 (en) 2017-09-27
JP2011189927A (en) 2011-09-29
US20110225212A1 (en) 2011-09-15
FR2957447B1 (en) 2012-10-26
JP5143248B2 (en) 2013-02-13
IL211550A (en) 2015-04-30

Similar Documents

Publication Publication Date Title
EP2367163B1 (en) Method and apparatus for secure low-level flights of an aircraft
EP1870789B1 (en) System for detecting obstacles in the proximity of a landing point
EP0732676B1 (en) Apparatus for aircraft collision avoidance particularly with the ground
EP2450868A1 (en) Method and device for detecting possible collisions to be implemented in an aircraft
FR2923623A1 (en) SYSTEM FOR SECURING A FLIGHT PLAN FOR AN AIRCRAFT
FR3038109A1 (en) SYSTEM AND METHOD FOR LOCATING IMPACTS ON EXTERNAL SURFACE
EP0652544A1 (en) Method and device for aiding piloting of an aircraft
FR2933203A1 (en) Cloud's e.g. anvil-shaped cumulonimbus cloud, convection intensity characterisizing method for e.g. X-band airborne radar, in aircraft, involves characterisizing cloud as convective and stratiform when profile is equal to respective values
Wallace Assessing the stability of canopy maps produced from UAV-LiDAR data
EP3451314A1 (en) Method and device for avoidance of an object by detection of its proximity to an aircraft
FR2998976A1 (en) METHOD AND SYSTEM FOR DETERMINING AN ERROR FOR ESTIMATING THE TIME OF IONOSPHERE TRAVERSE
EP3648439A1 (en) Anti-collision device, associated avionics protection system, anti-collision method and computer program
EP2924458B1 (en) Method for detecting and displaying artificial obstacles of a rotary-wing aircraft
CA2929198A1 (en) Method of calculating the surface speed of at least one ship and method for deduction of each vector derived at any point of the trajectory of said ship
EP2407953B1 (en) Enhanced piloting assistance method for an aircraft
EP2743186B1 (en) Method for securing an aircraft
Feygels et al. Coastal Zone Mapping and Imaging Lidar (CZMIL): first flights and system validation
EP4352693A1 (en) Method for reconstructing a 3d model of a building roof by analyzing images acquired by remote sensing
EP3866136A1 (en) Method and system to assist with navigation for an aircraft by detecting maritime objects in order to implement an approach flight, hovering or landing
CA3048013C (en) Process and drone equipped with a landing/take off assistance system
FR2938074A1 (en) PROCESS FOR PROCESSING VERTICAL PROFILES MEASURING THE POWER OF ECHOS RETURNED AFTER RADAR SIGNAL TRANSMISSION.
FR2987151A1 (en) HELICOPTER RESCUE ASSISTANCE SYSTEM
FR3136066A1 (en) Method and system for continuous in-flight management of an onboard beam generator
FR3107771A1 (en) System and method for detecting and locating a source of electromagnetic radiation
FR2954543A1 (en) Method for generation of alarms for aircraft relating to validity of track of takeoff or landing of aircraft in airport, involves generating alarm adapted to real status of track based on note to airmen

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

17P Request for examination filed

Effective date: 20110909

RAP1 Party data changed (applicant data changed or rights of an application transferred)

Owner name: AIRBUS HELICOPTERS

17Q First examination report despatched

Effective date: 20170331

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

INTG Intention to grant announced

Effective date: 20170609

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: AT

Ref legal event code: REF

Ref document number: 932666

Country of ref document: AT

Kind code of ref document: T

Effective date: 20171015

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: FRENCH

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 602011041827

Country of ref document: DE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20171227

Ref country code: SE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20170927

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20170927

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20170927

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20170927

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20170927

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG4D

REG Reference to a national code

Ref country code: AT

Ref legal event code: MK05

Ref document number: 932666

Country of ref document: AT

Kind code of ref document: T

Effective date: 20170927

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20170927

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20171228

Ref country code: RS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20170927

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20171227

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 8

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20170927

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20170927

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20170927

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20170927

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20170927

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20170927

Ref country code: SM

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20170927

Ref country code: AT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20170927

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180127

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 602011041827

Country of ref document: DE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20170927

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20170927

26N No opposition filed

Effective date: 20180628

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20170927

REG Reference to a national code

Ref country code: DE

Ref legal event code: R119

Ref document number: 602011041827

Country of ref document: DE

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

GBPC Gb: european patent ceased through non-payment of renewal fee

Effective date: 20180301

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20170927

Ref country code: MC

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20170927

REG Reference to a national code

Ref country code: BE

Ref legal event code: MM

Effective date: 20180331

REG Reference to a national code

Ref country code: IE

Ref legal event code: MM4A

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20180301

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20181002

Ref country code: IE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20180301

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20180331

Ref country code: BE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20180331

Ref country code: LI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20180331

Ref country code: GB

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20180301

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: TR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20170927

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20170927

Ref country code: HU

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT; INVALID AB INITIO

Effective date: 20110301

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MK

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20170927

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20170927

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20170927

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FR

Payment date: 20230322

Year of fee payment: 13

P01 Opt-out of the competence of the unified patent court (upc) registered

Effective date: 20230530

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: IT

Payment date: 20230328

Year of fee payment: 13