• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The remote control apparatus (16) includes an antenna for radio communication with the drone, and a touch screen (20) displaying an image captured by the drone camera. The method comprises the steps of: a) determining the active antenna (28b); (b) determination of the model of the apparatus used; c) search, in a table of a steering application software, of relative orientation information of the active antenna relative to the body of the aircraft; d) displaying the image on the touch screen so that the top of a scene captured by the camera of the drone appears (A) to the user at the bottom of the screen (20) if the orientation of the antenna relative to the body of the apparatus does not correspond to the direction (D) of the drone, and appears (B) to the user at the top of the screen (20) if the orientation of the antenna relative to the body of the apparatus corresponds to the direction (D) of the drone, so as to produce an unnatural display (A) leading the user to turn the apparatus (A '), thus placing the antenna in the direction (D) the drone.
    公开号:FR3033712A1
    申请号:FR1552124
    申请日:2015-03-16
    公开日:2016-09-23
    发明作者:Henri Seydoux；Luc Banda
    申请人:Parrot SA；
    IPC主号:
    专利说明:

    [0001] The invention relates to the remote control of motorized devices, hereinafter generally referred to as "drones". They may be flying drones, including rotary wing drones such as helicopters, quadcopters and the like. However, the invention is not limited to driving and exchanging data with flying devices; it applies as well to rolling devices operating on the ground under the control of a distant operator, the term "drone" to be understood in its most general sense. A typical example of a flying drone is the AR.Drone 2.0 or the Bebop (registered trademarks) of Parrot SA, Paris, France, which are quadricopters equipped with a series of sensors (accelerometers, gyrometers, altimeters), a frontal video camera capturing an image of the scene towards which the drone is directed, and a vertical aiming camera capturing an image of the terrain overflown. Another type of drone to which the invention can be applied is Jumping Sumo, also from Parrot SA, which is a remote control toy and jumper equipped with accelerometric and gyrometric sensors and a front video camera. The applications WO 2010/061099 A2, EP 2 364 757 A1, EP 2 450 862 A1 and EP 2 613 213 A1 (Parrot) describe the principle of driving a drone via a screened multimedia telephone or tablet. touch and integrated accelerometers, for example an iPhone-type smartphone or an iPad-type tablet (registered trademarks) running a specific remote control application software, such as in the above example the AR Free Flight mobile application (registered trademark) .
    [0002] In the remainder of the description, the term "remote control" or "apparatus" will generally be used to denote this remote control means, but this term must not be understood in its narrow meaning; on the contrary, it also includes functionally equivalent devices, especially all portable devices provided with at least a display screen and wireless data exchange means, such as smartphone, multimedia player not equipped with telephony functions, game console, etc. The front video camera is usable for piloting "in immersive mode of the drone, that is to say where the operator uses the image of the camera in the same way as if he were himself at It can also be used to capture sequences of images of a scene towards which the drone is moving, the operator using the drone in the same way as a camera which, instead of handheld, would be carried by the drone.The collected images can be recorded, put online 5 on websites, sent to other Internet users, shared on social networks, etc. The device also incorporates the various control devices necessary for the detection of control commands and the bidirectional exchange of data via a WiFi wireless LAN (IEEE 10 802.11) or Bluetooth wireless link directly established with the drone, its touch screen displays image captured by the front camera of the drone, with a number of symbols superimposed allowing control of the flight and the activation of commands by simply touching the operator's finger on the touch screen. This bidirectional radio link comprises a downlink (from the drone to the aircraft) for transmitting data frames containing the video stream from the camera and flight data or drone status indicators, and an uplink (from the aircraft to the drone) to transmit control commands. It will be understood that the quality of the radio link between the remote control and the drone is an essential parameter, in particular to ensure a satisfactory range and with the least possible latency. The transmitted data volumes are indeed important, in particular because of the very high need for downlink video bit rate (typically of the order of 2.5 to 3 Mbps), and any degradation of the quality of the link. radio 25 will have an impact on the bit rate allocated to the commands by the uplink, which will result in a degradation of the transmission quality of the uplink and a reduction of the radio range, creating a risk of losses. sporadic frames containing the commands produced by the apparatus, with the result that a control of the drone becomes very difficult. At the level of the remote control unit, the radio link uses an antenna incorporated in the apparatus which, in transmission, radiates the power of the uplink RF transmission circuit and, in reception, receives the signals emitted by the drone, in particular video stream and flight data signals.
    [0003] 3033712 3 With this type of remote control device, the user controls the drone by holding the device, typically with both hands by pressing the device on each side between palm and thumb or between index and thumb, the thumbs placed on the screen so as to be able to steer the drone by tilting the aircraft 5 or less along pitch and roll axes to replicate the same movement by the drone, and by controlling various parameters by touching with one finger mobile icons or buttons displayed on the touch screen of the device. It will be understood that under these conditions, the hands are naturally placed in the corners of the case of the apparatus, covering more or less space on the edges. However, it is usually where the WiFi and / or Bluetooth antennas of the device are placed (the WiFi and Bluetooth antennas, which are separate, are not necessarily located in the same place). 15 The radio waves of the Bluetooth and WiFi links , which are in very high frequency bands (respectively of the order of 2.4 GHz and 5.1-5.7 GHz) are very strongly attenuated by the human body, and in this case by the hands of the user if they are positioned near the antenna used by the device to communicate with the drone. In practice, the location of these antennas can vary considerably from one model of apparatus to another, so that the power of the signal radiated by the apparatus towards the drone, as the reception sensitivity of the signal received from the drone, will be very dependent on the position 25 and the orientation of the device that the user holds in his hands. More specifically, the device is generally held with its screen in "landscape" position, if the antenna is located on a long side of the device and it is on the side facing the drone, this position will be optimal . On the other hand, if the apparatus is held in the opposite direction, that is with the antenna on the side closest to the user, this configuration is particularly unfavorable because not only is the apparatus Antenna will be turned towards the user and not towards the drone, but the user's body will also strongly disrupt the propagation of the radio waves by mass screen effect, leading to a serious degradation of the quality of the radio link.
    [0004] 3033712 4 Similarly, if the antenna is located in a region near a corner of the device, depending on how the user holds this device, it may be that this antenna is located just in the place of his thumb which will then screen and greatly hinder the propagation of radio waves in the region of the antenna. Thus, it is found that the power of the signal radiated to the drone, and the sensitivity of the received signal - therefore consequently the range and the latency of the radio link - are very dependent on the way in which the user holds the device remote control, including the way he has oriented this device and he holds it in his hands. The object of the invention is to solve this problem by proposing a means of optimizing the orientation of the remote control apparatus with respect to the drone and, consequently, maximizing the radio energy radiated by the remote control (in emission) and the level of the received radio signal (in reception). The basic idea of the invention consists, after having recognized the model of remote control used (which gives the location of the active antenna used with this model), to make sure that the position of the antenna is that which provides the best radio link, i.e., the main lobe 20 of the active antenna radiation pattern is directed forward (ie to the drone and not to the user) ), and / or that the antenna located in a corner of the camera body is not covered by a thumb or the palm of the hand. The device controls for this purpose the display of the image on the touch screen 25 so that the top of a scene captured by the camera of the drone appears to the user: - at the bottom of the screen if the orientation of the active antenna does not correspond to the direction in which the drone is, and - at the top of the screen if the orientation of the active antenna corresponds to the direction in which the drone is located . Therefore: - in the first case, the image will be displayed upside down and the user will naturally return the remote control device to restore a correct image - and this inversion will precisely make sure that the antenna 3033712 5 will be oriented in the optimal position, turned forward then towards the drone, instead of being turned towards the user; in the second case the user (who has not been asked for anything and who has not noticed anything) will normally use the apparatus to remote control the drone. More specifically, the invention proposes a method of optimizing the orientation of a remote control device with respect to a remote-controlled flying or rolling drone by this device, the remote control device and the drone communicating with each other by a radio link. . In known manner, the drone comprises an on-board video camera, and transmitter-receiver means for said radio link. The remote control apparatus comprises an apparatus body adapted to be hand-held by a user, transceiver means for said radio link, comprising at least one transceiver antenna placed at a predetermined position. relative to the body of the apparatus, and a touch screen adapted to display an image captured by the camera of the drone and transmitted to the apparatus via said radio link, and to detect a contact on the surface of the screen. at least one finger of the user holding the body of the apparatus. In a characteristic manner of the invention, the method comprises the following steps: a) determination of the active antenna used by the transceiver means of the apparatus for said radio link; (b) determination of the model of the apparatus used; c) searching in a table for relative orientation information of the active antenna with respect to the body of the apparatus, said table being a table of a control software previously loaded and stored in the apparatus, the respective entries of said table giving, for each model of apparatus likely to be used to remotely control the drone, the corresponding relative orientation information of the antenna of this model; and d) displaying the image on the touch screen so that the top of a scene captured by the drone camera appears to the user at the bottom of the screen if the relative orientation of the active antenna by relative to the body of the apparatus does not correspond to the direction in which the drone is located, and appears to the user at the top of the screen if the relative orientation of the active antenna relative to the body of the device corresponds to the direction in which the drone is. The orientation information of the active antenna with respect to the body of the apparatus is advantageously a Boolean information indicating which side the antenna is with respect to a median axis of the body of the apparatus, this median axis extending between two opposite sides of the apparatus each capable of being held by a respective hand of the user. In this case, in a preferred embodiment of the invention, step d) comprises an unconditional forcing of the display direction of the image on the touch screen so that, compared to In this median axis, the top of a scene captured by the drone camera is on the same side of the screen as the side where the active antenna is located. In any case, if step c) does not find an entry corresponding to the identifier of the device model, step d) is not executed and a warning message is displayed. on the screen of the device. When the transceiver means of the apparatus comprise transceiver means adapted to operate in a plurality of distinct radio bands corresponding to a plurality of different respective antennas, then the respective inputs of said table give the information the relative orientation of the active antenna for each model of apparatus that can thus be used for each radio band that can be used by a given model, and the step a) of determining the active antenna comprises selecting, from among the plurality of antennae of the apparatus, the antenna compatible with the radio band used by the transceiver means of the drone. In another embodiment of the method, there is further provided a preliminary step of determining relative orientation information of the apparatus with respect to the user, and step d) is performed conditionally according to the relative orientation information of the apparatus relative to the user. The determination of the relative orientation information of the apparatus with respect to the user can in particular be implemented by accelerometric or inclinometric measurement of an absolute orientation of the body of the apparatus, or by detection of the region. the surface of the screen in contact with the finger (s) of the user holding the body of the apparatus.
    [0005] An embodiment of the present invention will now be described with reference to the accompanying drawings, in which the same references designate identical or functionally similar elements from one figure to another. Figure 1 is a general view showing a drone controlled by a remote control apparatus. Figure 2 shows the remote control device hand held by the user while piloting the drone. Figure 3 illustrates the actions taken by the implementation of the method of the invention.
    [0006] Figure 4 is an example of a table giving the positions of the antennas for different models of apparatus. Figure 5 is a general flowchart showing the successive steps of the method of the invention, in a preferred embodiment.
    [0007] Figure 5 is a general flowchart of an alternative embodiment of the invention.
    [0008] In FIG. 1, reference numeral 10 generally denotes a drone, which is for example a quadricopter such as the Bebop Drone model of Parrot SA, Paris, France. This drone comprises four coplanar rotors 12 whose engines are controlled independently by an integrated navigation system and attitude control. It is provided with a front-facing camera 14 making it possible to obtain an image of the scene towards which the drone is heading, for example a wide-angle high definition CMOS sensor camera with a resolution of 1920 x 1080 pixels with a frequency of refresh the video stream of 30 fps (image per second). The drone 10 is controlled by a remote remote control device 16 such as a multimedia touch screen phone or tablet and integrated accelerometers 35, for example an iPhone type smartphone (registered trademark) 3033 712 8 or another, or a tablet type iPad (registered trademark) or other. This is a standard device, unmodified if not the loading of a specific application software such as the AR Free Flight (registered trademark) mobile application to control the piloting of the drone 10 and the visualization of the 5 The camera 16 comprises a body 18 and a touch screen 20 displaying the image of the scene captured by the on-board camera of the drone 14, with in superposition a certain number of symbols allowing the activation of the camera. control commands (up / down, etc.) by simply touching a finger 22 of the user on the symbols displayed on the screen. The apparatus 16 is also provided with inclination sensors making it possible to control the attitude of the drone by printing the apparatus with corresponding inclinations along roll and pitch axes to advance or retract it. The actions printed on the device by the user are interpreted by the application software which transforms them into control signals destined for the drone. As can be seen in Figure 2, which illustrates the device 16 held by the user by hand, it normally holds the device in "landscape" mode, which corresponds to the format of the camera 14 of the drone and Therefore, the apparatus 16 is generally firmly held between the thumbs 24, 24 'and the indexes or palms 26, 26' of so that it can be tilted in pitch and roll so that the drone replicates these inclinations and produce corresponding displacements, forwards or backwards or on the sides.
    [0009] The references 28a to 28d illustrate various possible configurations of the active antenna, incorporated in the body 18 of the apparatus, for exchanging data with the drone via the radio link: - if the antenna is in the illustrated position 28a, this configuration is optimal because the antenna is turned towards the drone (the latter being in the direction D) and is not obscured by the fingers of the user; - On the other hand, if the active antenna is located at position 28b, on the other side of the median longitudinal axis A of the apparatus 16, the antenna will radiate towards the user, so much less efficiently ; - in the case where, for the model of apparatus considered, the antenna is located in a corner of the body 18 of the apparatus, in the position illustrated in 3033712 9 28c, this position is optimal, since is turned towards the drone (direction D) and is not obscured by the fingers of the user; - On the other hand, if the antenna is in an opposite corner as shown in 28d, this configuration is particularly unfavorable 5 since not only is the antenna turned towards the user instead of being turned towards the drone, but that moreover the fingers 24, 26 of the user come to hide and strongly disrupt the propagation of radio waves. The basic idea of the invention lies in the fact that, if the antenna is in an unfavorable configuration (as in 28b and 28d), then in the latter case it is sufficient to go back flat of one half. turn the body 18 of the device 16 to restore the optimum configuration, that is to say that this simple maneuver will move from the position 28b to the 28a position, or from the 28d position to the 28c position.
    [0010] It would certainly be possible to measure, for example, the level of the signal received by the antenna (RSSI level) and to ask the user to test the possible positions so that he chooses the one providing the best reception level. The invention proposes another solution to this problem, which does not involve measuring the level of the received signal, and therefore can be used even before radio data has been exchanged between the apparatus and the drone. The basic idea is, if one knows a priori the location of the active antenna within the body of the apparatus, to determine, from a table giving this information in function of the device model, relative orientation information of the active antenna with respect to the body of the device and: - if the antenna is oriented "on the wrong side", that is to say facing towards the user, then make sure that the display of the image is inverted (up / down), leading the user to spontaneously return from a half-turn the device he holds in his hands. to restore the correct meaning of the image presented to him; - if the antenna is "on the right side", ie turned towards the drone in a region free from any contact with the hand of the user, make 3033712 10 so that the display is presented non-inverted and let the user continue using the device. Concretely, the preferential solution consists in managing the display so that the "top" of the displayed image is systematically located on the same side (with respect to a median horizontal axis of the apparatus) as the antenna which will be used. Therefore, if the antenna is located "on the wrong side" the display will in fact be presented "upside down" from the point of view of the user, whereas otherwise it will appear "on the wrong side". in law". This principle is illustrated in FIG. 3: the case where the antenna 28b is, with respect to the longitudinal axis A of the apparatus, on the side facing the user and not on the turned side, is illustrated in (A). towards the drone (direction D): in this case, the display is forced into an "unnatural mode" with inversion of the image. The user will then spontaneously return the apparatus (a half-turn flat) to the position (A ') where the antenna 28b will be conveniently oriented, in the direction D of the drone, the display having become "natural" for the user. In the opposite case where, at the beginning of the process, the antenna 28b is relative to the longitudinal axis A of the opposite side to the user, that is to say the side facing the drone (direction D) , this configuration (B) is considered optimal and no particular action is taken, the display on the screen 20 being kept "natural". For the implementation of this method, it is necessary to know a priori the relative orientation of the antenna relative to the body 18 of the device, for each model of possible device.
    [0011] For this purpose, a table is stored in the pilots application software previously loaded and stored in the remote control device. Since this software is a universal software, compatible with multiple device models, the table includes, as illustrated in FIG. 4, a plurality of items each with an entry consisting of a model identifier and fields giving, for each model, the location of the WiFi antenna and the Bluetooth antenna. The location information gives the relative orientation of the antenna with respect to the body of the apparatus, and may be simply a Boolean datum indicating which side is the antenna with respect to the median axis A of the body of the apparatus, which axis is defined as the axis extending between the two sides between which the device is held by hand by a user viewing the screen in "landscape" mode. Figure 5 is a flowchart describing the sequence 100 of the various steps of implementing this method, in a preferred embodiment. A first step (block 102) is to determine the antennas that will be used by the remote control, WiFi or Bluetooth, depending on the type of drone that you want to control (some operating in Bluetooth, others in WiFi).
    [0012] Thus, knowing the active antenna that will be used, it is then possible (block 104) to determine the relative orientation of this active antenna relative to the body of the apparatus, from the table stored in memory, which, depending on the model, device, the position of this antenna relative to the body of the device.
    [0013] In the particular case where the model of the apparatus is not referenced in the table (block 106), no particular action is taken, except possibly to display (block 108) a message to the The user can test the two possible orientations and determine the best one himself, for example by observing the received signal level indicator 20 which is displayed on the screen. In all other cases, the direction of display of the image on the screen is simply forced (block 110) in such a way that, relative to the median axis A of the body of the apparatus, the top a scene captured by the camera of the drone is in all cases the same side of the screen as the side 25 where the active antenna is located. Therefore, if the aircraft is "well oriented" with respect to the drone (ie with the active antenna facing the drone and not towards the user), the image will be presented at the location to the user, while otherwise it will be displayed upside down: this inversion, as indicated above, is a visual message wrong orientation, leading the user to spontaneously restore the situation by returning the camera a half-turn flat to restore, from his point of view, a correct image.
    [0014] FIG. 6 is a flowchart describing the sequence 200 of the different stages of implementation of this method, in another embodiment of the invention. In this case, a first step (block 202) for determining the relative position of the user relative to the body of the apparatus is provided. This position can be determined by inclinometer or accelerometer means incorporated in the apparatus, giving the direction of the vertical (gravity) relative to the body of the apparatus. Since it is assumed that the user is looking at the screen, the measurement of the orientation of the body of the apparatus makes it possible to determine which side the user is in relation to the longitudinal axis A. D Other means may be used, for example by detecting the contact of the user's fingers on the touch screen 20. With respect to the axis A, the side where the contact surface of the fingers will be the largest will allow the contact to be made. This is to determine the relative orientation of the device to the user. The next step (block 204) is to determine which of the antennas will be used by the remote control, WiFi or Bluetooth, depending on the type of drone that you want to control (some running Bluetooth, 20 others WiFi) . Thus, knowing the active antenna that will be used, it is then possible (block 206) to determine the relative orientation of this active antenna with respect to the body of the apparatus, from the table kept in memory giving, according to the model of device, the position of this antenna relative to the body of the apparatus. In the particular case where the model of the apparatus is not referenced in the table (block 208), no particular action is taken, if it is not possible to display (block 210) a message to the user so that it tests the two possible orientations and itself determines the most significant, for example by observing the received signal level indicator which is displayed on the screen. In all other cases, the relative orientation of the apparatus relative to the user is compared to the relative orientation of the active antenna relative to the body of the apparatus (block 212): 3033712 antenna and the user are on the same side (in the case of antennas 28b and 28d in FIG. 2), then the inversion of the display direction of the image (block 214) is forced so that, mechanically, the the user returns his device to make disappear this display "antinaturel"; 5 - otherwise, the configuration is considered optimal and no particular action is taken (configuration corresponding to antennas 28a or 28c of Figure 2).
    权利要求:
    Claims (8)
    [0001]
    REVENDICATIONS1. A method of optimizing the orientation of a remote control apparatus with respect to a remote controlled flying or rolling drone by this apparatus, the remote control apparatus and the drone communicating with each other via a radio link, the drone (10) comprising : - an onboard video camera (14); and - transceiver means for said radio link, the remote control apparatus (10) comprising: - an apparatus body (18), adapted to be held in the hand by a user; - transceiver means for said radio link, comprising at least one transmitting-receiving antenna (28a, 28h, 28c, 28d) placed at a predetermined position relative to the body of the apparatus; and a touch screen capable of displaying an image captured by the camera of the drone and transmitted to the apparatus via said radio link, and detecting a contact on the surface of the screen with at least one finger of the user holding the body of the apparatus, characterized by the following steps: a) determining (104) the active antenna used by the transceiver means of the apparatus for said radio link; (b) determination of the model of the apparatus used; c) searching (106) in a table of relative orientation information of the active antenna relative to the body of the apparatus, said table being a table of a control software previously loaded and stored in the device the respective inputs of said table giving, for each model of apparatus likely to be used to remotely control the drone, the corresponding relative orientation information of the antenna of this model; and d) displaying the image on the touch screen so that the top of a scene captured by the drone camera appears to the user at the bottom of the screen if the relative orientation of the active antenna by relative to the body of the apparatus does not correspond to the direction in which the drone is located, and appears to the user at the top of the screen if the relative orientation of the active antenna relative to the body of the device corresponds to the direction in which the drone is. 5
    [0002]
    2. The method of claim 1, wherein the orientation information of the active antenna relative to the body of the apparatus is a Boolean information indicating which side is the antenna with respect to a median axis ( A) of the body of the apparatus, this median axis extending between two opposite sides of the apparatus each capable of being held by a respective hand (24, 26; 24 ', 28') of the user .
    [0003]
    The method of claim 2, wherein step d) comprises unconditionally forcing the display direction of the image on the touch screen so that, with respect to said medial axis, the top of a The scene captured by the drone camera is on the same side of the screen as the side where the active antenna is located.
    [0004]
    4. The method of claim 1, wherein, if step c) of searching does not find an entry corresponding to the identifier 20 of the device model, step d) is not executed and a warning message is displayed (110) on the screen of the device.
    [0005]
    The method of claim 1 wherein: the transceiver means of the apparatus comprises transceiver means adapted to operate in a plurality of distinct radio bands corresponding to a plurality of different respective antennas; respective entries of said table give the relative orientation information of the active antenna for each model of apparatus which can thus be used for each radio band likely to be used by a given model, and step a) of determining the active antenna comprises selecting, from among the plurality of antennae of the apparatus, the antenna compatible with the radio band used by the transceiver means of the drone. 3033712 16
    [0006]
    The method of claim 1, wherein there is further provided a prior step of determining relative orientation information of the apparatus with respect to the user, and step d) is executed conditionally. 5 according to the relative orientation information of the apparatus with respect to the user.
    [0007]
    The method of claim 6, wherein the prior step of determining relative orientation information of the apparatus with respect to the user is performed by accelerometric or inclinometric measurement of a absolute orientation of the body of the device.
    [0008]
    The method of claim 6, wherein the prior step of determining relative orientation information of the apparatus with respect to the user is carried out by detecting the region of the surface of the object. screen in contact with the finger (s) of the user holding the body of the device.
    类似技术:
    公开号 | 公开日 | 专利标题
    EP3069767B1|2017-09-13|Method for optimising the orientation of a remote-control device relative to a flying or wheeled drone
    EP3086195B1|2019-02-20|System for piloting a drone in first-person view mode
    EP3020460A1|2016-05-18|Long-range remote-control device for a drone
    EP3078402B1|2017-10-04|System for piloting an fpv drone
    US11176809B2|2021-11-16|Mobile computing device for use in controlling wirelessly controlled vehicles
    EP3025770A1|2016-06-01|Video system for piloting a drone in immersive mode
    EP3316068B1|2019-03-06|Autonomous system for collecting moving images by a drone with target tracking and upkeep of the target collection angle
    EP2613213A1|2013-07-10|Intuitive piloting method of a drone by means of a remote control device
    EP3273318B1|2021-07-14|Autonomous system for collecting moving images by a drone with target tracking and improved target positioning
    EP3185110A1|2017-06-28|Hybrid mobile element, method and device for interfacing a plurality of hybrid mobile elements with a computer system, and assembly for virtual or augmented reality system
    EP3159964B1|2018-12-19|Drone with body leg housing an antenna
    EP3261405B1|2018-12-19|Local network for simultaneously exchanging data between a drone and a plurality of user terminals and assigning a main single user that controls the drone
    FR2957266A1|2011-09-16|METHOD AND APPARATUS FOR REMOTE CONTROL OF A DRONE, IN PARTICULAR A ROTARY SAILING DRONE.
    US20170264907A1|2017-09-14|Method of encoding and decoding a video of a drone, and associated devices
    EP3273317A1|2018-01-24|Autonomous system for taking moving images, comprising a drone and a ground station, and associated method
    CN110249281A|2019-09-17|Position processing unit, flying body, position processing system, flight system, position processing method, flight control method, program and recording medium
    FR3043789A1|2017-05-19|CHARGING OF EPHEMERID DATA IN A DRONE.
    同族专利:
    公开号 | 公开日
    EP3069767B1|2017-09-13|
    CN105988479A|2016-10-05|
    FR3033712B1|2017-03-03|
    JP2016174360A|2016-09-29|
    US20160274582A1|2016-09-22|
    EP3069767A1|2016-09-21|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    EP1826993A1|2006-02-27|2007-08-29|Sagem Communication S.A.|Method of adapting the man/machine interface of a telephone and telephone in accordance with the method|
    WO2013080080A1|2011-12-01|2013-06-06|Koninklijke Philips Electronics N.V.|Method, wireless device and wireless communications system to guide a user of a wireless device to establish an optimal wireless direct link to another wireless device|
    US20130156080A1|2011-12-15|2013-06-20|Zhaojun Cheng|Antenna deployment switching for data communication of a user device|
    EP2613213A1|2012-01-04|2013-07-10|Parrot|Intuitive piloting method of a drone by means of a remote control device|
    WO2014143678A1|2013-03-15|2014-09-18|Hyde Roderick A|Portable wireless node orientation adjustment|
    US8977284B2|2001-10-04|2015-03-10|Traxcell Technologies, LLC|Machine for providing a dynamic data base of geographic location information for a plurality of wireless devices and process for making same|
    JP4566825B2|2005-06-03|2010-10-20|レノボ・シンガポール・プライベート・リミテッド|Method for controlling antenna of portable terminal device and portable terminal device|
    FR2938774A1|2008-11-27|2010-05-28|Parrot|DEVICE FOR CONTROLLING A DRONE|
    FR2957266B1|2010-03-11|2012-04-20|Parrot|METHOD AND APPARATUS FOR REMOTE CONTROL OF A DRONE, IN PARTICULAR A ROTATING SAIL DRONE.|
    FR2967321B1|2010-11-05|2013-06-14|Parrot|METHOD OF TRANSMITTING CONTROLS AND A VIDEO STREAM BETWEEN A DRONE AND A REMOTE CONTROL THROUGH A WIRELESS NETWORK TYPE LINK.|
    US20140349637A1|2013-03-15|2014-11-27|Elwha LLC, a limited liability corporation of the State of Delaware|Facilitating wireless communication in conjunction with orientation position|
    US8903568B1|2013-07-31|2014-12-02|SZ DJI Technology Co., Ltd|Remote control method and terminal|JP6293304B2|2014-05-21|2018-03-14|エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ|Remote control device, control system, and control method|
    US10831186B2|2015-04-14|2020-11-10|Vantage Robotics, Llc|System for authoring, executing, and distributing unmanned aerial vehicle flight-behavior profiles|
    US9681111B1|2015-10-22|2017-06-13|Gopro, Inc.|Apparatus and methods for embedding metadata into video stream|
    US9667859B1|2015-12-28|2017-05-30|Gopro, Inc.|Systems and methods for determining preferences for capture settings of an image capturing device|
    US9922387B1|2016-01-19|2018-03-20|Gopro, Inc.|Storage of metadata and images|
    US9967457B1|2016-01-22|2018-05-08|Gopro, Inc.|Systems and methods for determining preferences for capture settings of an image capturing device|
    US9665098B1|2016-02-16|2017-05-30|Gopro, Inc.|Systems and methods for determining preferences for flight control settings of an unmanned aerial vehicle|
    US9973792B1|2016-10-27|2018-05-15|Gopro, Inc.|Systems and methods for presenting visual information during presentation of a video segment|
    CN110036648B|2016-12-05|2021-11-05|Kddi株式会社|Flight device, control device, communication control method, and control method|
    JP6435310B2|2016-12-06|2018-12-05|Kddi株式会社|Control device, program, and communication method|
    US10187607B1|2017-04-04|2019-01-22|Gopro, Inc.|Systems and methods for using a variable capture frame rate for video capture|
    JP6343366B1|2017-04-21|2018-06-13|株式会社Ａｅｒｉａｌ Ｌａｂ Ｉｎｄｕｓｔｒｉｅｓ|Information transmission method at the time of disaster|
    US20200409393A1|2018-03-23|2020-12-31|Nec Corporation|Mobile object, remote-control device, remote-control system, remote-control method, and recording medium having remote-control program recorded thereon|
    KR20200093922A|2019-01-29|2020-08-06|삼성전자주식회사|Method, electronic device, and storage medium for controlling an external electronic device of the electronic device|
    法律状态:
    2016-03-29| PLFP| Fee payment|Year of fee payment: 2 |
    2016-09-23| PLSC| Search report ready|Effective date: 20160923 |
    2017-03-07| PLFP| Fee payment|Year of fee payment: 3 |
    2017-07-21| TP| Transmission of property|Owner name: PARROT DRONES, FR Effective date: 20170616 |
    2018-03-14| PLFP| Fee payment|Year of fee payment: 4 |
    2019-11-29| ST| Notification of lapse|Effective date: 20191106 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1552124A|FR3033712B1|2015-03-16|2015-03-16|METHOD FOR OPTIMIZING THE ORIENTATION OF A REMOTE CONTROL DEVICE IN RELATION TO A FLYING OR ROLLING DRONE|FR1552124A| FR3033712B1|2015-03-16|2015-03-16|METHOD FOR OPTIMIZING THE ORIENTATION OF A REMOTE CONTROL DEVICE IN RELATION TO A FLYING OR ROLLING DRONE|
    US15/067,016| US20160274582A1|2015-03-16|2016-03-10|Method for optimizing the orientation of a remote-control device with respect to a rolling drone|
    EP16160140.6A| EP3069767B1|2015-03-16|2016-03-14|Method for optimising the orientation of a remote-control device relative to a flying or wheeled drone|
    CN201610146380.9A| CN105988479A|2015-03-16|2016-03-15|Method for optimizing the orientation of a remote-control device relative to a flying or wheeled drone|
    JP2016050676A| JP2016174360A|2015-03-16|2016-03-15|Method of optimizing orientation of remote control device for flight type or rolling type drone|
    [返回顶部]