1. Device for calculating a flight plan of an aircraft, the said flight plan making it possible to meet up with an initial flight plan, the said aircraft comprising sensors for detecting surrounding moving objects and weather sensors for detecting meteorological phenomena, the said device being wherein it comprises means for:
determining parameters characterizing the moving objects detected on the basis of data originating from the sensors for detecting surrounding aircraft,
determining parameters characterizing the meteorological phenomena detected, on the basis of meteorological data originating from the weather sensors,
calculating prohibited zones and their evolution over time on the basis of the parameters characterizing the aircraft and the meteorological phenomena detected, the said zones defining a space where the aircraft cannot fly,
calculating zones reachable by the aircraft and their evolution over time on the basis of the position of the aircraft, of data describing regulated zones prohibited to navigation, of a digital terrain model, of a list of obstacles and prohibited zones calculated,
selecting a joining point meeting up with the initial flight plan situated in a reachable zone,
calculating a joining flight plan for meeting up with the selected joining point.
2. Device according to claim 1, wherein the calculation of the joining flight plan is iterated at regular intervals, a flight plan being evaluated as a function of a quality criterion and in that a joining flight plan calculated at a given iteration, termed the new flight plan, becomes the flight plan followed by the aircraft if a joining flight plan, calculated at a previous iteration and followed by the aircraft, termed the current flight plan, exhibits an evaluation, within the sense of the quality criterion, for which the difference with the evaluation of the new calculated flight plan is above a given threshold.
3. Device according to claim 1, wherein the calculation of reachable zones comprises an estimation of the distances of the points in a map obtained by projection on a horizontal plane of a 3D representation of a deployment space by a mesh of elementary cubes that are associated with danger levels and are labelled by an altitude, a latitude, a longitude and a date, the said estimation consisting in applying a distance transform, the cubes associated with danger levels greater than an admissible value N1 labelling the zones prohibited for the aircraft; the said distance transform estimating the distances of the various points of the image with respect to a source point representing the position of the aircraft by applying, by scanning, a mask to the various points of the image; a determined initial distance value being assigned, at the start of the scan, to all the points of the image except to the source point, the origin of the distance measurements, to which a zero distance value is assigned.
4. Device according to claim 3, wherein the estimation of distance from the source point to a point considered Pi,j, termed the aim point, being placed in a determined box of the mask, consists for each neighbouring point PV entering the boxes of the mask and whose distance having already been estimated in the course of the same scan in:
reading the estimated distance DV of the neighbouring point PV (step 90),
reading a coefficient CXY of the mask corresponding to the box occupied by the neighbouring point PV (step 91),
calculating a propagated distance DP corresponding to the sum of the estimated distance DV of the neighbouring point PV and of the coefficient CXY assigned to that box of the mask occupied by the neighbouring point PV:
DP=DV+CXY\u2003\u2003(step 92),
calculating a foreseeable altitude AP of the aircraft after crossing the distance DP (step 93),
calculating a propagated date Tp at the position after crossing the distance DP (step 94),
reading a foreseeable danger level Ni,j,Ap,Tp of the aim point Pi,j in the representation as elementary cubes of the airspace at the foreseeable altitude AP and at propagated date Tp (step 95),
comparing the foreseeable danger level Ni,j,Ap,Tp with a permitted limit value N1 for the flight, increased by a safety margin \u0394 (step 96),
eliminating the propagated distance DP if the foreseeable danger level Ni,j,Ap,Tp is greater than that admissible for the flight increased by the safety margin \u0394 (step 97),
if the foreseeable danger level Ni,j,Ap,Tp increased by the safety margin \u0394 is below the limit N1 fixed for the flight, reading the distance Di,j already assigned to the aim point considered Pi,j (step 98) and comparing it with the propagated distance DP (step 99),
eliminating the propagated distance DP if it is greater than or equal to the distance Di,j already assigned to the aim point considered Pi,j, and
replacing the distance Di,j already assigned to the aim point considered Pi,j by the propagated distance DP if the latter is smaller (step 900),
the elementary cubes exhibiting a smaller distance than the largest distance measurable on the image at the end of the scan being designated reachable zones.
5. Device according to claim 1, wherein the selection of the joining point comprises the calculation of a score C for points of the initial flight plan situated in a reachable zone, the point for joining the selected initial flight plan being that obtaining the best score C, the said score being calculated according to the following relation:
C
=
(
\u220f
i
=
1
n
\ue89e
\ue89e
(
1
+
C
i
)
\u03b1
i
)
1
\u2211
i
)
\ue89e
1
n
\ue89e
\u03b1
i
–
1
where Ci is a score allotted according to an evaluation criterion i, and \u03b1i is a value associated with the evaluation criterion i and reflecting its importance, i being a value lying between 1 and 5.
6. Device according to claim 1, wherein the parameters characterizing the moving objects detected comprise a speed, a position and a future flight plan.
7. Device according to claim 6, wherein the prohibited zone associated with a moving object characterized solely by its position is defined by a succession of concentric circles with radii (402),(403) obeying a time-dependent increasing law and whose centre is the position (401) of the said moving object.
8. Device according to claim 6, wherein the prohibited zone associated with a moving object characterized by its position and by its speed vector is defined by a succession of cylinders, whose centres correspond to the position of the said moving object as predicted on the basis of the said speed vector, the said centres being spaced apart by a regular time interval p, the radii of the successive cylinders obeying a time-dependent increasing law complying with the following relation:
ri+ri+1>p
where p is the time interval separating the centres of two successive cylinders, ri and ri+1 represent the radii of two successive cylinders.
9. Device according to claim 6, wherein the prohibited zone associated with a moving object characterized by its position and by its future flight plan is defined by a tube enveloping the flight plan.
10. Device according to claim 6, wherein the prohibited zone associated with a moving object characterized by its position and by its future flight plan is defined by a rectangular parallelepiped enveloping the flight plan.
The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.
1. A method of adjusting a speed ratio of a continuously variable transmission (CVT) having a plurality of traction planets, each traction planet having a tiltable axis of rotation, the method comprising the step of configuring a stator of the CVT to apply a skew condition to each tiltable axis of rotation independently.
2. The method of claim 1, wherein the skew condition is based at least in part on an angular displacement of the stator plate.
3. The method of claim 1, wherein the skew condition is based at least in part on a tilt angle of the tiltable axis of rotation.
4. The method of claim 1, wherein configuring a stator comprises the step of providing a plurality of radially offset slots formed on the stator, the radially offset slots arranged angularly about a center of the stator, the radially offset slots offset from a main drive axis of the CVT.
5. A method of adjusting a speed ratio of a continuously variable transmission (CVT) having a plurality of traction planets, each traction planet having a tiltable axis of rotation, the method comprising the steps of:
rotating a stator to which each traction planet is operably coupled, the stator configured to independently apply a skew condition to each tiltable axis of rotation; and
guiding each tiltable axis of rotation to an equilibrium condition, the equilibrium condition based at least in part on the rotation of the stator plate, the equilibrium condition substantially having a zero-skew angle condition.
6. The method of claim 5, wherein guiding each tiltable axis of rotation comprises providing a stator having a plurality of guides that are radially offset.
7. The method of claim 6, wherein guiding each tiltable axis comprises operably coupling each tiltable axis to a guide that is radially offset.
8. A method of supporting a plurality of traction planets of a continuously variable transmission (CVT), each traction planet having a tiltable axis of rotation, the method comprising the steps of:
providing a first stator plate having a plurality of radially offset slots, the radially offset slots arranged angularly about a center of the first stator plate;
operably coupling each of the traction planets to the first stator plate;
providing a second stator plate having a plurality of radial slots, the radial slots arranged angularly about the center of the second stator plate; and
operably coupling the traction planets to the second stator plate.
9. The method of claim 8, further comprising the step of configuring the first stator plate to rotate relative to the second stator plate.
10. The method of claim 8, further comprising the step of configuring the first stator plate to be substantially non-rotatable about a main drive axis of the CVT.
11. The method of claim 8, further comprising the step of configuring the second stator plate to be substantially non-rotatable about a main drive axis of the CVT.
12. A method of adjusting a speed ratio of a continuously variable transmission (CVT) having a plurality of traction planets, each traction planet having a tiltable axis of rotation, the method comprising the steps of:
providing a stator plate operably coupled to each of the traction planets;
receiving a set point for a speed ratio of the CVT;
determining a set point for an angular displacement of the stator plate, said set point based at least in part on the set point for the speed ratio; and
rotating the stator plate to the set point for the angular displacement of the stator plate, wherein rotating the stator plate induces a skew condition on each tiltable axis of rotation, the stator plate configured to adjust the skew condition as each tiltable axis of rotation tilts.
13. The method of claim 12, wherein rotating the stator plate comprises operably coupling an actuator to the stator plate, wherein the actuator is configured to receive an actuator command signal based at least in part on the set point for the angular displacement.
14. A method of adjusting a speed ratio of a continuously variable transmission (CVT) having a plurality of traction planets, each traction planet configured to have a tiltable axis of rotation, the method comprising the steps of:
determining a set point for a speed ratio of the CVT;
measuring an actual speed ratio of the CVT;
comparing the actual speed ratio to the set point for the speed ratio to thereby generate a comparison value; and
rotating a stator plate to an angular displacement based at least in part on the comparison value, wherein rotating the stator plate applies a skew condition to each of the traction planets, and wherein the skew condition changes as each tiltable axis of rotation tilts and the angular displacement remains constant.
15. The method of claim 14, wherein rotating the stator plate comprises operably coupling an actuator to the stator plate, wherein the actuator is configured to receive an actuator command signal based at least in part on the set point for the speed ratio.
16. A continuously variable transmission (CVT) having a plurality of traction planets arranged angularly about a main drive axis, each traction planet having a tiltable axis of rotation, the CVT comprising:
a first stator plate coaxial with the main drive axis, the first stator plate having a plurality of radially offset slots, the radially offset slots configured such that each tiltable axis is guided independently from the others;
a second stator plate coaxial with the main drive axis, the second stator plate having a plurality of radial slots, the radial slots configured to independently guide the tiltable axes of rotation; and
wherein the first stator plate is configured to rotate relative to the second stator plate.
17. The CVT of claim 16, further comprising a traction sun coupled to each traction planet, the traction sun located radially inward of each traction planet, the traction sun configured to be substantially axially fixed.
18. A stator plate for a continuously variable transmission (CVT) having a plurality of traction planets, the stator plate comprising:
a substantially disc shaped body having a center; and
a plurality of radially offset guides arranged angularly about the center, each of the radially offset guides having a linear offset from a centerline of the disc shaped body.
19. The stator plate of claim 18, further comprising a shift stop extension arranged about the center.
20. The stator plate of claim 19, wherein the shift stop extension is located radially inward of the radially offset guides.
21. The stator plate of claim 19, wherein the shift stop extension is located radially outward of the radially offset guides.
22. A continuously variable transmission (CVT) having a plurality of traction planets, each traction planet having a tiltable axis of rotation, the CVT comprising:
a first stator plate arranged coaxial about a main drive axis of the CVT, the first stator plate operably coupled to each traction planet, the first stator plate having a plurality of radially offset slots arranged angularly about a center of the first stator plate, each of the radially offset slots having a linear offset from a centerline of the first stator plate;
a second stator plate arranged coaxial about a main drive axis of the CVT, the second stator plate having a plurality of radial slots, the radial slots arranged angularly about a center of the second stator plate, each of the radial slots substantially radially aligned with the center of the second stator plate; and
an actuator operably coupled to at least one of the first and second stator plates, the actuator configured to impart a relative rotation between the first and second stator plates.
23. The CVT of claim 22, further comprising a stator driver coupled to the first stator plate, the stator driver configured to operably couple to the actuator.
24. The CVT of claim 22, further comprising a traction sun coupled to each traction planet, the traction sun located radially inward of each traction planet, the traction sun configured to be substantially axially fixed.
25. A ball planetary continuously variable transmission (CVT) comprising:
a plurality of traction planets, each traction planet having a tiltable axis of rotation;
a first guide aligned with a line perpendicular to a main drive axis of the CVT, the first guide configured to act upon the tiltable axis of rotation; and
a second guide aligned with a line that is parallel to the line perpendicular to the main drive axis of the CVT, the second guide configured to act upon the tiltable axis of rotation.
26. The CVT of claim 25, wherein the first and second guides are configured to establish a location substantially defining an equilibrium condition for the tiltable axes.
27. A method of manufacturing a continuously variable transmission (CVT), the method comprising the steps of:
providing a first guide radially aligned with a line perpendicular to a main drive axis of the CVT;
providing a second guide offset;
wherein on a projection plane, respective projection lines of the first and second guides intersect thereby forming an intersection location;
operably coupling a plurality of traction planets to the first and second guides; and
configuring the first and second guides such that they are capable of rotation relative to one another about the main drive axis.
28. The method of claim 27, wherein the intersection location substantially corresponds to an equilibrium condition of planet axes associated with the traction planets.
29. The method of claim 28, wherein the equilibrium condition corresponds to a substantially zero skew condition.