• 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 system includes a drone and a ground station. The ground station has a console provided with a directional antenna capable of being directed towards the drone to maintain the quality of the wireless link with it, and virtual reality glasses rendering images taken by a camera of the drone . The system comprises means for determining the position of the drone with respect to a heading of the console, and means for including in the images (I) rendered in the virtual reality glasses a visual indication (C, Ce, G, Id ) misalignment of the drone with respect to the heading of the console. Although cut off from the real external environment, the pilot is able from this visual indication to reorient the console, typically by turning on itself, so that its directional antenna points appropriately towards the drone.
    公开号:FR3035523A1
    申请号:FR1553656
    申请日:2015-04-23
    公开日:2016-10-28
    发明作者:Henri Seydoux；Nicolas Brulez；Arsene Ferrand
    申请人:Parrot SA；
    IPC主号:
    专利说明:

    [0001] The invention relates to rotary wing drones such as quadcopters and the like. These drones are provided with multiple rotors driven by respective engines controllable in a differentiated manner to control the drone attitude and speed. The AR.Drone 2.0 or the Bebop Drone of Parrot SA, Paris, France are typical examples of such quadricopters. They are equipped with a series of sensors (accelerometers, three-axis gyrometers, altimeters), a front camera capturing an image of the scene to which the drone is pointing, and a vertical aiming camera capturing an image of the terrain. overflown. WO 2010/061099 A2 and EP 2 364 757 A1 (Parrot SA) describe such a drone and its driving principle via a phone or multimedia player with touch screen and built-in accelerometer, for example a cell phone of iPhone type or iPad type multimedia tablet (trademarks of Apple Inc., USA). These devices incorporate the various control devices necessary for the detection of control commands and the bidirectional exchange of data with the drone via a Wi-Fi (IEEE 802.11) or Bluetooth (registered trademarks) wireless network link. They are also provided with a tactile screen displaying the image captured by the front camera of the drone, with a number of symbols in order to activate commands by simply touching the user's finger on the camera. this touch screen. The front camera of the drone can be used for "immersive mode" or FPV (First-Person View) control, ie where the user uses the camera image in the same way as if he was himself on board the drone. It can also be used to capture sequences of images of a scene towards which the drone is heading. The user can thus use the drone in the same way as a camera or a camcorder that, instead of being held by hand, would be carried by the drone. The collected images can be recorded, broadcast, put on line on web hosting sites of video sequences, sent to other Internet users, shared on social networks, etc. In the Bebop Drone system marketed by the Applicant, the pilot directly visualises the image taken by the drone on a ground station 3035523 2 marketed under the name Skycontrotter, and he can control the angle of view of the camera at the camera. help of the tactile interface of the iPad-type tablet equipping the ground station. This viewing angle control acts on a digital reframing and distortion correction processing applied to the fish-eye image of the camera, thereby simulating a physical movement of the camera. camera axis to the left, right, up and down. In addition, the ground station has a video output for connecting FPV goggles for immersive mode control.
    [0002] This immersive mode gives incomparable sensations to the pilot, who can orient the image reproduced in the glasses on the left and on the right, and at the top and bottom, with respect to the heading of the drone. But at the same time it makes him lose eye contact with the reality that surrounds him on the ground. However, a drone of the aforementioned type requires, in order to maintain the quality of the wireless link 15 between the ground station and the drone, to maintain the antenna of the station on the ground oriented at least approximately in the direction of the drone, which is impossible to achieve in such an immersive mode. The present invention aims, in a system comprising a drone, a pilot ground station and FPV-type goggles, to allow the pilot to ensure that the ground station is oriented in a direction which preserves or which optimizes the wireless link between the ground station and the station. For this purpose, the invention proposes an immersion drone piloting system comprising, in a manner known per se, a drone equipped with 25 shooting means and a ground station communicating with the drone via a wireless link. . The ground station comprises a console provided with a directional antenna capable of being directed towards the drone to maintain the quality of the wireless link, and virtual reality glasses rendering images taken using the means of capture. from view and transmitted from the drone via the wireless link. In a characteristic manner of the invention, the system further comprises means for determining the position of the drone with respect to a heading of the console, and means sensitive to said determining means, to include in the images restored in the glasses of Viral reality 3035523 3 a visual indication of misalignment of the drone relative to the heading of the console. Thus, although cut off from the real external environment, the pilot, from this visual indication, is able to reorient the console (typically by turning on itself) so that its directional antenna points appropriately to the drone. The system also optionally includes the following advantageous features, taken individually or in any combination which those skilled in the art will recognize as technically compatible: the position determining means comprises a magnetometer for determining the heading of the console by north; the position determination means comprise GPS positioning modules provided in the drone and in the ground station, and processing means for determining an orientation of the straight line passing through the drone and the console relative to the north; in this case, the position determination means may in particular comprise means for subtracting the angles corresponding to the heading of the console and the orientation of the straight line relative to the north, as well as means for compensating the declination magnetic; the position determination means comprise means for comparing the angular position of the drone relative to a heading of the console with a good reception angular jig centered on said heading, when the wireless link is able to operate in one of at least two modes corresponding to different directivities of the antenna, the system also comprises means for selecting an angular mask of good reception as a function of the active mode of the wireless link; in this case, the system advantageously comprises means sensitive to the signal of the wireless link received from the drone for selectively including or not said visual indication. The visual indication may in particular be included in the case where the angular position of the drone is included in the angular template but the level of the signal is below a predetermined threshold, and not in the case where the angular position of the drone is not included in the angular template but the level of the signal is greater than a predetermined threshold, the visual indication comprises a circular sector representative of a good reception angular template, and a pictogram whose position is representative of the angular position of the drone relative to the template; the visual indication also comprises a set of directional arrows each of which can be selectively displayed to indicate a desired direction of movement for the console in order to bring the cap of the console in an orientation corresponding to an admissible alignment of the console. drone with respect to heading, these directional arrows including arrows to the left and to the right and / or 15 upwards and downwards.
    [0003] An exemplary embodiment of an image transmission system between a drone and a drone ground station according to the invention will now be described with reference to the appended drawings in which the same reference numerals designate a FIG. other identical or functionally similar elements. Figure 1 schematically illustrates a set of drone and commercial ground station 25, to which the invention is advantageously applied. Figure 2 illustrates the ground station of Figure 1 supplemented by immersive driving goggles. Figure 3 illustrates in plan view geometric characteristics reflecting the mutual position of a console of the ground station and the drone.
    [0004] Figure 4 is a flow diagram of the essential functions performed by the system of the invention. Figure 5 shows an example of visual indication superimposed on the images rendered by the glasses.
    [0005] An embodiment of the device of the invention will now be described. A first person view system according to the present invention comprises a drone equipped with at least one camera, a ground station communicating via a wireless link of appropriate range with the drone and virtual reality glasses, provided with means of rendering the user of images in the eyes of the user, giving him the sensation of flying on board the drone, in the most realistic manner possible (First Person View flight or FPV) . In this example, the drone comprises a single camera with fisheye-type optics, but could alternatively comprise a set of cameras, and digital processing means embedded and / or provided in the ground station to combine the images of the various 15 cameras. In Figure 1, the reference 10 generally denotes the drone, for example a quadrocopter type flying drone such as Bebop model of Parrot SA, Paris, France. This drone comprises four coplanar rotors 12 whose engines are controlled independently by an integrated navigation system 20 and attitude control. The drone also includes a front-facing camera 14 that makes it possible to obtain a video image of the scene towards which the drone is heading, for example a high definition CMOS sensor camera with a resolution of 1920 x 1080 pixels with a refresh rate of the video stream. 30 fps (frames per second), associated with a fisheye wide-angle lens. The drone also has image processing and correction means capable of reframing in real time or near real-time the images taken by the drone according to a direction in which the pilot wishes to wear his gaze, as will be seen in the following.
    [0006] The drone 10 also comprises a GPS module 15 (not visible) capable of processing and delivering to the ground station, systematically or on command, its GPS coordinates recorded at regular intervals. The drone is controlled by a ground station 16 comprising a remote control console 20 associated with a tablet 18.
    [0007] The tablet 18 is a conventional tablet, for example of the iPad (trademark) type or the like, comprising a display screen 22, in which was loaded a software application module for driving the drone 10 and The tablet 18 is also equipped with a data exchange radio interface, for example of the type It is a tablet of a standard model, not modified except for the loading of the application software module. The screen 22 of the tablet 18 displays the image of the scene picked up by the onboard camera 14 of the drone, with in superposition a number of symbols allowing the control of various navigation parameters. This screen is a touch screen for activating control commands by simply touching an operator's finger on the symbols displayed on the screen (up / down, attitude control, etc.). These actions are interpreted by the application software which converts them into control signals destined for the drone, sent on the Wi-Fi data exchange interface. Conversely, the flight data from the drone 10 received by the Wi-Fi interface are delivered to the application software for processing therein and possibly displayed on the screen 22 of the tablet. The production of commands from the touch screen of the tablet is here only optional, the various commands being duplicated and completed by actions on various buttons and joysticks of the console 20. More specifically, the console 20 comprises a support 24 for securing the tablet 18 to the console, facing the operator so that it can see the entire surface of the screen 22. The body of the console 20 is extended on each side by handles 26 provided with various control members such as joysticks 28 of the "joystick" type and buttons 30 disposed within reach of the operator's fingers 30 and each associated with a particular control (take-off / landing, return to starting point, triggering the recording of the scene captured by the camera, etc.). The console 20 is also provided with various luminous displays 32 (battery level of the drone, recording in progress, strength of the wireless signal received from the drone, etc.), as well as a connector (not shown) allowing the connection of accessories among which virtual reality glasses with integrated screen can be used as an alternative to the display screen 22 of the tablet. Alternatively, the accessories can communicate with the console by wireless communication.
    [0008] The console 20 is also provided with a long-range directional Wi-Fi antenna 34, which the operator directs towards the drone 10 when he has in his hands the remote control console 20. This Wi-Fi connection notably links the drone the flight controls for the drone 10, the angular component data of the direction in which the pilot in immersion wishes to watch the scene taken by the camera 14 (as will be described later), and since the drone the video signal from the camera, cropped here in the drone by the aforementioned processing means. In a preferred embodiment, the wireless link is capable of operating in two frequency bands, for example 2.4 and 5.2 GHz, with different transmission and directivity characteristics. The console 20 is also equipped with a magnetometer, preferably a 3-axis magnetometer, for determining its heading relative to the magnetic north. Advantageously, this magnetometer is part of an inertial unit 38, preferably comprising a 3-axis accelerometer, a 3-axis gyrometer and the aforementioned magnetometer. The console further comprises a GPS module 39 capable of delivering its own GPS coordinates, especially for purposes as explained below.
    [0009] Referring to Figure 2, there is shown the console 20 as well as virtual reality glasses 40 connected to the console by a wired or wireless link as described above, constituting a bidirectional communication channel. For example, the glasses are of the Oculus Rift (trademark) type 30 marketed by the company Oculus, Menlo Park, California, USA, connected to the console 20 via an HDMI and / or USB connection, or even type glasses. Zeiss VR One (registered trademark), the latter incorporating a mobile phone replacing the tablet 18 and the link with the console 20 then being a wireless link.
    [0010] 3 0 3 5 5 2 3 8 The console 20 is able to communicate in a rising direction with the glasses 40 for which display a video image. In a simplest embodiment, this image is a copy of the image displayed on the display screen 22 of the tablet.
    [0011] The general principle of the invention is to indicate to the pilot, in any manner but preferably at the spectacle display, an indication of the correct alignment or misalignment of the console, and therefore of its directional antenna, compared to the drone. With reference to FIG. 3, the drone 10 and the ground station 16 constituted by the console 20 provided with the tablet 18 are illustrated. In this figure, for the sake of simplification, it is considered firstly that the magnetic north (the reference for magnetometers) and geographic north (that of GPS coordinates) are combined, the north being indicated in N.
    [0012] The line CC denotes the heading of the console 20, and the angle a designates the angle formed by the cap of the console relative to the north (positive value with respect to the trigonometric direction). The line D is the one that brings together the center of the repository of the drone 10 (position Pd) and the center of the repository of the console 20 (position Pc). The GPS coordinates of the drone and the console 20 make it possible to determine this straight line, and consequently the angle [3 of this straight line D with respect to the north N (value here negative with respect to the trigonometric direction). It will therefore be understood that the angular coordinate of the drone 10 relative to the console 20 is equal to the difference between the algebraic values of these two angles, ie y = 13 - a (here, an absolute value a + 13 given the signs opposite). The value of this angle makes it possible, as will be seen, to signal to the pilot the situations in which the drone deviates angularly in an excessive manner with respect to the heading of the console CC, to allow it to carry out the corrective action (reorientation of the console) that is required.
    [0013] Referring now to Figure 4, a processing process for implementing this feature will be described in detail. In step 410, the GPS module 39 of the console 20 generates the GPS coordinates of the latter. In step 420, the GPS unit 15 of the drone generates the GPS coordinates of the drone and sends them to the console via the wireless link. In step 430, the ground station processing means 16 (located either in the console 20 or in the tablet 18) calculate the angle 13 formed between the straight line D passing through the drone and the console in relation to the north (here the geographical north). In step 440, the magnetometer 38 of the console determines the angle α between the heading of the DC console and the north (here magnetic north). In step 450, these two angle values (oriented values) are subtracted from each other, to generate the angular coordinate y of the drone 10 with respect to the heading of the DC console (step 451). Advantageously, this operation includes the management of the shift between the geographic north and the magnetic north (magnetic declination). In the case where the wireless link between the console 20 and the drone 10 implements frequency bands or more generally technologies that make the directivity of the antenna is different from one mode to another, then the step 460 determines, based on the currently active linkage mode, an angular template for distinguishing a situation where the drone is suitably placed with respect to the heading of the DC console, and a situation where the position of the drone is such that the Wireless link is likely to be of poor quality or even lost. For example, in the case of a Wi-Fi link in the 2.4 GHz band, the drone is considered to be well positioned if it is in an angular range of ± 80 ° to the heading of the console (sector called template). And in the case of a Wi-Fi link in the 5.2 GHz band, this angular sector is only ± 30 °. In the case of a weak received signal - for example corresponding to only two illuminated indicator LEDs (1 red and 1 white) -, the opening angle of this template may be restricted, for example to ± 40 ° or ± 15 ° depending on the band used. In step 470, the processing means compares the value of y generated in step 450 with the template to be used for the active wireless link.
    [0014] In the case where this value is included in the template, the next step 480 determines the force (level) of the signal received from the drone 10, noted RSSI, and compares it to a threshold. If the signal strength is below this threshold, it means for example that the distance between the drone and the console is quite large, and that it is therefore necessary that the drone be located not only in the template, but at the same time. as close as possible to the heading of the 3035523 10 DC console. In this case, the visual signaling of the mutual position of the console and the drone, as will be described later, must be activated. Otherwise, no visual signaling is triggered.
    [0015] In the case where step 470 demonstrates that the angular position y of the drone relative to the heading of the DC console is outside the template, then the process proceeds to step 490. In this step, the RSSI force of the signal the wireless link received from the drone is also compared to a threshold. Preferably, this threshold is greater than the threshold used for step 480. In the case where the signal is greater than the threshold, no visual signaling is triggered. In practice, this will mean most of the time that the misalignment of the drone 10 relative to the console 20 is important, but that the drone is close enough to the console so that the quality of the wireless link between the drone and the console remains satisfactory. On the other hand, in the case where the signal strength is below the threshold, then visual signaling (detailed below) is triggered. This signaling includes in this case, in addition to an indication of the position of the drone relative to the heading of the console, indications intended to facilitate the alignment of the console with the drone by causing the pilot to turn 20 on himself in a certain meaning, as will be explained later. The triggering of a visual signal may be accompanied by sound signaling, vibration, etc. in order to draw the pilot's attention to the need to quickly correct the alignment of the console relative to the position of the drone.
    [0016] With reference to FIG. 5, examples of visual indications that can be implemented in the present invention will now be described. This figure represents an image I taken by the camera 14 embarked on the drone 10 and restored in the virtual reality glasses 40.
    [0017] The visual signaling of an "out-of-jig" situation of the drone comprises in all cases a circle C having a center Which represents for the pilot his own position in the navigation space. The angular position (angle y) of the drone 10 with respect to the heading of the DC console is represented by means of an icon or pictogram of the drone, referenced Id, placed at the corresponding location of the circle C. Advantageously this signaling also comprises a representation of the currently active template, in the case where several templates corresponding to several wireless communication modes are managed by the system. This representation is here in the form of a circular sector G whose angular extent is identical to that of the template. In one embodiment, the sector may be colored, with a color that may vary depending on the urgency of the correction required, which itself may be reflected by the strength of the wireless communication signal received from the drone 10.
    [0018] In the representation of FIG. 5, the drone is approximately 45 ° to the right with respect to the heading of the drone, which corresponds to the bisector of the template G, and the template G has a width of ± 30 °. On the other hand, in the case where the drone 10 is out of gauge with an insufficient signal level, as detailed above with reference to step 490, then additional visual signaling is carried out, for example in the form of a signal. a directional arrow along a corresponding edge of the screen. In the illustrated example, for which it is necessary in case of insufficient signal to turn the console to the right (clockwise in Figure 3), it is an arrow F1 directed to the right and located along the right edge of the screen. This arrow, which tells the pilot to turn in one direction or the other, also allows him to indicate the minimum displacement / rotation to move towards the drone. Other arrows, F2, F3, F4 may be selectively displayed depending on the misalignment of the drone relative to the console. It will be observed here that, according to the directivity pattern of the antenna 34 of the console, one can generate misalignment in lace only (by rotation of the console around a vertical axis), or both in yaw and in pitch (by rotation not only about a vertical axis but also about a horizontal axis perpendicular to the CC of the console) In the first case, only the lateral arrows F1 and F2 may be one of them. In the second case, it will be one of the arrows F1, F2, F3 and F4 which will be displayed It should be noted in this regard that the management of pitch misalignment 35 is easily implemented. thanks to the fact that the altitude is taken in charge by the GPS coordinate system, and thanks to the fact that the reference in this case, namely the horizontal one, is obtained either by means of the magnetometer integrated in the console, either using the gyroscope also integrated in it.
    [0019] Of course, the present invention is not limited to the embodiments described and shown, and those skilled in the art will be able to make many variations and modifications. In particular: - it applies to drones of various types: inspection, hobbies or other, hovering or not, and all types of types of glasses 10 virtual reality; the processing of detection of the position of the drone with respect to the console and generation of the displays in the rendered image can be distributed anyway between the console 20, the tablet 18 and the virtual reality glasses 40 in the case where the latter comprise processing means, in particular a graphics processor; - The virtual reality glasses may include a dedicated display system, or a commercial smart terminal such as a smart-phone reported on the glasses.
    权利要求:
    Claims (10)
    [0001]
    REVENDICATIONS1. An immersion drone piloting system comprising a drone (10) with camera means (14) and a ground station (16) communicating with the drone via a wireless link, the ground station comprising a console ( 20) provided with a directional antenna (34) adapted to be directed towards the drone to maintain the quality of the wireless link, and virtual reality glasses (40) rendering images taken using the means taken from the drone by the wireless link, the system being characterized in that it further comprises: means (15, 38, 39, 410-450) for determining the position of the drone in relation to a heading of the console; and means responsive to said determining means, for including in the images (I) rendered in the virtual reality glasses a visual indication (C, Ce, G, Id) of misalignment of the drone with respect to the heading of the console .
    [0002]
    The system of claim 1, wherein the position determining means comprises a magnetometer (38) for determining the heading of the console relative to the north.
    [0003]
    The system of claim 1, wherein the position determining means comprises GPS positioning modules (15, 39) provided in the drone (10) and in the ground station (16), and processing means. (430) to determine an orientation of the line passing through the drone and the console relative to the north.
    [0004]
    4. The system of claims 2 and 3 taken in combination, wherein the position determining means comprises means (450) for subtracting the angles corresponding to the cap of the console and the orientation of the line relative to the north, as well as means for compensating the magnetic declination.
    [0005]
    5. The system of claim 1, wherein the position determining means comprises means (470) for comparing the angular position of the drone relative to a heading (CC) of the console with a good angular jig. receiving centered on said heading. 5
    [0006]
    6. The system of claim 5, wherein the wireless link is adapted to operate in one of at least two modes corresponding to different directivities of the antenna (34), and also comprising means for selecting a template. angular good reception depending on the active mode of the wireless link. 10
    [0007]
    The system of claim 5, further comprising means (480, 490) responsive to the signal of the wireless link received from the drone for selectively including or excluding said visual indication. 15
    [0008]
    The system of claim 7, wherein said visual indication is included in the case where the angular position of the drone is included in the angular template but the signal level is below a predetermined threshold, and is not included in the case where the angular position of the drone is not included in the angular template but the level of the signal is greater than a predetermined threshold.
    [0009]
    9. The system of claim 1, wherein said visual indication comprises a circle sector (G) representative of an angular template of good reception, and a pictogram (Id) whose position is representative of the angular position. of the drone compared to the template.
    [0010]
    The system of claim 9, wherein said visual indication also comprises a set of directional arrows (F1-F2; F1-F4) each of which can be selectively displayed to indicate a desired direction of movement for the console to bring the heading of the console in an orientation corresponding to an admissible alignment of the drone with respect to said heading, said directional arrows comprising arrows to the left and to the right (F2, F1) and / or upwards and downwards (F3, F4).
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    法律状态:
    2016-04-22| PLFP| Fee payment|Year of fee payment: 2 |
    2016-10-28| PLSC| Search report ready|Effective date: 20161028 |
    2017-04-18| PLFP| Fee payment|Year of fee payment: 3 |
    2017-07-21| TP| Transmission of property|Owner name: PARROT DRONES, FR Effective date: 20170616 |
    2018-04-23| PLFP| Fee payment|Year of fee payment: 4 |
    2020-01-10| ST| Notification of lapse|Effective date: 20191206 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1553656A|FR3035523B1|2015-04-23|2015-04-23|IMMERSION DRONE DRIVING SYSTEM|FR1553656A| FR3035523B1|2015-04-23|2015-04-23|IMMERSION DRONE DRIVING SYSTEM|
    EP16165089.0A| EP3086195B1|2015-04-23|2016-04-13|System for piloting a drone in first-person view mode|
    US15/133,065| US9886033B2|2015-04-23|2016-04-19|System for piloting a drone in immersion|
    JP2016085752A| JP2016203978A|2015-04-23|2016-04-22|System for piloting a drone in immersed state|
    CN201610490916.9A| CN106094863A|2015-04-23|2016-04-22|The system of unmanned plane is driven for immersion|
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