• 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 flying machine (101) comprises a flying apparatus (115), without an onboard pilot, and a robotic tool (114) having an active working area (131). A stabilization module (135) of the robotic tool (114) comprises an acquisition system (118) which determines at least one piece of information relating to the robotic tool (114) and delivers this information, and a calculator (119) which determines a displacement of the flying apparatus (115) and / or a spatial configuration of the robotic tool (114), so that the difference between the position in the environment of the active working area (131) and the predetermined setpoint remains below a predetermined threshold.
    公开号:FR3036992A1
    申请号:FR1555204
    申请日:2015-06-08
    公开日:2016-12-09
    发明作者:Asma Bouaouaja；Clement Serrat
    申请人:Asma & Clement Aerial Advanced Tech；
    IPC主号:
    专利说明:

    [0001] The present invention relates to remote working systems.
    [0002] In particular, the present invention relates to systems comprising an onboard unmanned aerial vehicle (conventionally designated by the acronyms in English "UAV", or "unmanned aerial vehicle" for "air vehicle without human", or "RPAS", for "Remotely piloted Aircraft system "for" remote controlled airborne system "). The present invention relates more particularly to such a system comprising a flying machine carrying a tool. US 2014 / 231,594 describes an example in which an onboard unmanned flying vehicle carries a tool used to open a door knob. The effective use of such a machine requires an extremely precise control of the flight, which is not necessarily always possible, especially depending on external conditions. To overcome these disadvantages, a remote work system is provided. The remote work system includes a flying machine. The flying machine comprises a flying apparatus, without an onboard pilot, and whose movements can be controlled remotely. The flying machine includes a robotic tool.
    [0003] The robotic tool comprises a plurality of segments joined to each other by hinges, one of the segments having a mounting portion connected to the flying apparatus, and another segment having an active working area. The robotic tool comprises a hinge system (s) between the active working area and the mounting portion allowing relative movement of the active working area and the mounting portion, comprising at least one hinge. The robotic tool comprises a controllable displacement system adapted, on command, to move with respect to one another two segments of the robotic tool arranged on either side of a hinge of the articulation system. (s). The system further includes a control station. The control station includes displays of the flight parameters informing an operator of the operation of the flying machine.
    [0004] 3036992 2 The control station has a control station, adapted to impart remotely control of a displacement of the active working area. The system comprises a stabilization module of said robotic tool. The stabilization module comprises a memory storing a predetermined setpoint for positioning the active working zone in the environment. The stabilization module comprises at least one acquisition system (118) adapted to determine at least one information relating to the robotic tool and to deliver this information. The stabilization module comprises a computer adapted to determine a displacement of the flying apparatus and / or a spatial configuration of the robotic tool from the predetermined setpoint and said information delivered by the acquisition system, so that the difference between the position in the environment of the active working area and the predetermined setpoint remains below a predetermined threshold. Thus, there is provided an embedded unmanned flying device equipped with a platform handling utensils via one or more robotic arms, allowing for example to perform work, and controlled automatically, assisted or manual by one or more operators. One of the possible applications of the system concerns the realization of work in difficult situations, by their access, their exposure to mechanical or chemical risks, their arduousness, their repetitiveness. Such work is traditionally done manually or mechanically by an operator placed near a working area, horizontal or vertical, and assisted by external means (scaffolding, ropes, aerial lifts, etc.), thus exposing him to risks of falls and mechanical hazards intrinsic to the proximity of the work area and the tools used. To limit the risks of the operator, means of protection can be put in place, but do not completely eliminate the risk of injury, physical or moral fatigue due to repetitiveness. Other methods for performing this work use industrial robotics and reduce the exposure of 40 operators by having a robot perform certain tasks.
    [0005] 3036992 3 However, the movement capacity of these machines is low and generally limited to perimeters, marked out, internal to the company. All these methods require specialized operators upstream of the production, to prepare the means of access to the area to be treated. The device according to the invention overcomes these disadvantages. According to embodiments of the invention, one and / or other of the following characteristics may also be used: the flying apparatus has one and / or the other of the following characteristics: . at least one rotor, preferably at least four rotors, for modifying the axis of orientation of the thrust, b. at least one electric motor adapted to drive a rotor, c. blades mounted on a rotor, d. the flying apparatus carries a sensor, which is part of the acquisition system, in particular optical, LIDAR, or radio, RADAR, making it possible to detect a flight environment, an obstacle and / or a working environment, e. an on-board computer, f. a battery, g. an expellable parachute or automatic airbags; the system further comprises a cable connecting the flying machine to the control station, the cable having one and / or the other of the following characteristics: a. The cable includes an electrical power cable, b. The cable includes a low voltage electrical cable, c. The cable allows an exchange of information between the flying apparatus and the control station, d. The cable carries a medium of work between the ground and the flying machine, e. The cable forms a safety bond between the flying machine and the ground; The system further includes a mobile land or water vehicle carrying the control station; the articulation system (s) comprises at least six axes, in particular at least seven axes; The flying machine further comprises one and / or the other of the following characteristics: a. an offset mechanism adapted to move the robotic tool between a central location and a location remote from the flying apparatus, b. the robotic tool comprises an articulated arm comprising at least the mounting portion, and an active utensil comprising the active working area, the robotic tool also comprising, preferably, a computer and mechanical adapter 10 for securing / detaching the arm articulated to / of the active utensil and allowing the control of the utensil by exchanging information between the utensil and an on-board computer of the flying machine; the pilot control station is equipped with controls 15 and force feedback mechanisms limiting the movement and operation of the controls according to the environment of the flying machine; the acquisition system comprises one and / or the other of: LIDAR or RADAR sensors carried by the flying apparatus and / or the robotic tool, an inertial unit carried by the flying apparatus and / or the robotic tool, especially the active working area, an encoder of at least one articulation; The acquisition system comprises force sensors of the articulated arm, and the computer determines a displacement of the flying apparatus and / or a spatial configuration of the robotic tool also from the measurements of the force sensors; the system further comprises a positioning system 30 external to the flying apparatus, in particular on the ground, the positioning of the flying apparatus being furthermore achieved with the positioning system external to the flying apparatus; the system furthermore has one or both of the following features: - an inclination of the at least one rotor of the flying apparatus can be varied to modify a force exerted by the robotic tool, - the rotors are intermeshing; the system has one and / or the other of the following characteristics: the system comprises a suitable processor system, the receipt of a command from the robotic tool at the control station, to modify the thrust of the flying apparatus as a function of a change of inertia of the robotic tool; - the system comprises a suitable processor system, the reception of a positioning control of the work zone at the position to control the thrust of the flying apparatus and / or the spatial configuration of the robotic tool; - the system comprises a suitable processor system, the receipt of a control of operation of the working area at the level of of the control station, to modify the thrust of the flying apparatus and / or the spatial configuration of the robotic tool according to a reaction force exerted on the flying machine by the operation of the work area, the one and / or the other these modifications being, if necessary, made taking into account in addition one and / or the other of: an on-board sensor for positioning the flying machine, an on-board sensor for positioning the robotic tool, an on-board sensor for positioning the work area; a force sensor for the robotic tool; a ground sensor for positioning the flying machine; a pre-established rule linking the modification and the control; the information determined by the acquisition system is relative to one and / or the other of: - a position, an inertia and / or a displacement of the robotic tool, the flying apparatus and / or the flying machine, 30 - a reaction force exerted on the flying machine. Some advantages of some embodiments are listed below. The system includes, according to one feature, a flight portion of at least four thrusters capable of providing the thrust required to lift high loads. The assembly of these four thrusters generates a different thrust depending on the movement needs of the flying machine. A characteristic of these thrusters is that they respond to a high level of responsiveness in the thrust change as well as an ability to generate a thrust reversal for rapid decelerations. Alternatively or in addition, rotors may be provided comprising blades whose pitch is variable in an adjustable manner during a rotation cycle. One embodiment of these thrusters may be the use of collective or cyclic variable pitch rotors. Depending on the need in torque, these rotors may be driven mechanically by one or more motors, designed to provide a constant number of revolutions, in central position, or four independent motors. According to another embodiment, these thrusters can be made by intermeshing rotors and using fins on the trailing edges of the blades (also known by the English expression "servo-flaps").
    [0006] This part ensuring the flight can be autonomous or remotely controlled by one or more operators, thus removing potential risks related to the area to be treated. In one embodiment, the transmission of information between the pilots and the flying apparatus can be carried out wirelessly by radio waves, or through a wire connecting the flying apparatus to the ground control station and making it possible to avoid any electromagnetic disturbance in sensitive environments. The flight stability is ensured by the use of information such as acceleration, tilt or altitude of the flying aircraft. LIDAR or RADAR sensors can supplement the flight sensors by informing the flying aircraft on its environment, to determine its movements or to detect risks of collisions. An external tracking system, for example on the ground, using optical techniques, can serve to inform the flying apparatus on its position and its movements. In an operating mode, these sensors make it possible to limit the movements or to interrupt the movement of the flying apparatus to avoid a collision of the flying apparatus or its on-board accessories, and thus assist the operator in his flight, simplifying operations. This information is transmitted to the operator via messages displayed on his control station, as well as by a physical limitation of the movement of his commands, simplifying the understanding of the remote environment for the operator.
    [0007] In another mode of operation, the flying apparatus may be capable of maintaining a distance defined by the operator between the flying apparatus or one of its on-board accessories and a zone to be treated, virtual or physical, which offers a autonomy to the operator, which thus focuses on the work to be done. A feature is the presence of an industrial robotic tool attached to the platform in such a way that it has a field of action not limited by the size or layout of the propulsion means of the device. It offers the operator a possibility to automate repetitive work and to work at consistent quality thanks to the repeatability of robotics. The control station allows the operator, on this point, to interactively define limits of the area to be treated, to define automatic areas to be treated by following patterns or manual areas. The robotic tool includes an articulated arm (also called "robotic arm"). The end of this robotic arm may be equipped with suitable or specially designed utensils in order to carry out the work that the operator would normally have done directly. In an environment related to the field of the building, such utensils can be renovating tools, drilling, cutting, stripping, they generate or not a physical action of reaction on the area to be treated.
    [0008] Utensils such as cameras in the visible, infrared or thermal range can also be carried by the robotic arm. Reaction profiles of the utensils, predefined or designed in real time, used to modulate the operator's instructions and using the sensor information, allow the flying apparatus to anticipate and react to reactions due to the setting implementation of said tools by applying, for example, a gradually large thrust to counteract the reaction force generated by the utensil.
    [0009] Depending on the necessity and capabilities of the utensil, sensors located in the utensil, robot arm or flying part can be used to automatically control the utensil, or to inform the operator who then transmits the operation command.
    [0010] 3036992 8 In an operating mode, the operator commands on the operation of the utensil can be mixed with the controls of the flying apparatus to refine the result of the use of the utensil, or prohibit such use in case 5 of necessity, thus facilitating the task of the operator. The movement of the robotic arm can be ensured automatically by the flying machine to correct parasitic movements due to external conditions such as wind, or to be able to replace the flying machine in an optimum manner without changing the movements of the utensil compared to the environment. His commands can also be mixed at the controls of the operator to refine the final result of the use of the utensil. One feature is the use of one or more wires for passing information and feed stream between the flying apparatus, the robotic arm and the implement and the ground. This feature allows the realization of work over extended periods without having to interrupt the flight. These son can be completed by a cable serving as a safety link limiting the 20 deflections of the flying apparatus relative to the ground in case of major malfunction. In one embodiment, one or more complementary wires may be added to move up or down streams of material or data.
    [0011] The accompanying drawings illustrate: Figure 1 shows in a right view, the device according to one embodiment. Figure 2 shows a possible configuration for the entertainment industry and requiring mobility. Figure 3 shows a configuration of the screen helping to control the device. Figure 4 shows a possible configuration for vertical surface maintenance.
    [0012] Figure 5 shows a particular configuration where the rotors can tilt to increase thrust in one direction. Figure 6 shows a configuration using intermeshing rotors.
    [0013] With reference to these drawings, the device 100 consists of a flying machine 101 and a control station 109. The term "flying machine" designates a system comprising a flying apparatus 115 itself and at least one robotic tool. 114 carried by the flying device 115. The flying apparatus 115 is an onboard unmanned aircraft. It comprises a frame 117 or mechanical structure ensuring its overall cohesion. It comprises at least one rotor 103 carried by the frame 117. In the example presented, the flying apparatus 115 has at least 4 rotors carried at different locations of the frame, for example according to a quadrilateral in plan view (on the view plane of Figure 1, only the two rotors of one side are visible, the other two, a second side, being masked by the first). One can arbitrarily define a frame of reference (P, U, V, W) related to the flying apparatus 115. For example, the point P is the center of mass of the flying apparatus. The triad U, V, W can be defined as follows: the direction W is the mean axis of rotation of the rotors (thus substantially close to the vertical in normal condition). The direction U is a direction of the plane orthogonal to the direction W, for example connecting two given rotors, and the direction V completes the trihedron. For example, rotors 103 with cyclic or collective variable pitch are used. The collective pitch is the mechanism that places, for a single rotor, all the blades at the same time at the same inclination. It then generates uniform lift over the entire area covered by the rotor. If the four rotors use only the collective pitch mechanism, then the flying apparatus is moved by varying the four different bearings. The cyclic pitch is the mechanism by which the angle of the blade is changed when it moves to a certain position in its rotation about the axis of the rotor. If a cyclic pitch is used for each rotor, a multitude of different bearing capacities are available at each position of each blade for each rotor, thus increasing the agility. In particular, rotors are used which make it possible to change the thrust exerted by the rotor, or even to invert the direction of thrust. Alternatively or additionally, it is possible to provide rotors comprising blades whose pitch is variable in an adjustable manner during a rotation cycle. Such rotors 103 make it possible to control the distribution of the thrust among the rotors, in order to be able to react rapidly to internal disturbances, such as the force of reaction applied to the flying apparatus 115 during the use of the tools (see FIG. below), or external, like the wind. In a particular configuration, these variable pitch rotors 103 are 8 in number (4 x 2) and arranged in an entanglement manner, as shown in Figure 6, to increase the thrust on a reduced area. In another particular configuration, as shown in Figure 5, they are adjustable to direct their thrusts, by orientation of the rotor axis relative to the vertical. The rotors comprise blades 102 similar to those of the helicopters and thus able to benefit from the technological advances of the field. These rotors are driven by one or more electric motors 106 of industrial type driven by industrial automata, allowing the use of existing industrial know-how 15 in automation. As shown in Figure 1, in one example, the frame 117 carries an electric motor 106. The movement generated by the electric motor is transmitted to the rotors 103 via a transmission (not shown). The frame 117 also carries a trip computer 110.
    [0014] The on-board computer 110 includes a processor 119 and a memory 120. The positioning of the flying apparatus and the detection of obstacles are done through an acquisition system 118.
    [0015] By "position" or "positioning" is meant both the spatial location of the flying apparatus, as well as its orientation with respect to a trihedron (X, Y, Z) of the terrestrial reference frame. The Z axis corresponds for example to the vertical, and the plane XY to the horizontal plane, a direction X being chosen at the time of the initialization of the system (for example aligned with the direction U at this moment), and the axis Completing the trihedron. One can also choose an origin 0 of the terrestrial reference with respect to which the position can be expressed. The acquisition system 118 may comprise at least one sensor 105 on board the flying apparatus 115. Such a sensor 105 is for example fixed on the frame 117, or integral with it. A system of such sensors 105, comprising a plurality of such sensors 105 can be used more particularly. In this case, the sensors 105 are distributed at various locations of the flying machine 40, and are oriented so as to cover a detection field. 3036992 11 surrounding the flying apparatus 115, or a part thereof. The example shown in FIG. 1, simplified, illustrates two sensors 105, 105 'carried by the frame 117. In a purely illustrative manner, the sensors 105, 105' are carried by the on-board computer 110. A sensor 105 is oriented to define a detection field around a horizontal plane, and another sensor 105 'is oriented to define a detection field around a vertical plane, and pointing downwards. As sensors 105, for example, rangefinders 105 are used, adapted to determine the distance of a point opposite. For example, LIDAR (if authorized by the application) or RADAR rangefinders can be used. For example, bidimensional range finders can be used to determine the distance from a point closest to the sensor in a plane, as well as the vector between this point and the sensor. Alternatively or additionally, it is possible to use three-dimensional rangefinders for determining the distance from a point closest to the sensor in a three-dimensional sector of the space, as well as the vector between that point and the sensor. The sensor system provides information about the flight environment, possible obstacles, and the work environment. The information is stored in the memory 120. It can be partially or completely processed on board the flight apparatus 115 by the on-board computer 110. From the information, and a predetermined knowledge of the congestion of the flying apparatus 115, stored in the memory 120, the onboard computer 110 can determine a distance between the flying apparatus and an obstacle. A barometer can also be used to determine the altitude of the flying device.
    [0016] An external tracking system, for example on the ground, using optical techniques, can serve to inform the flying apparatus on its position and its movements. This possibility is illustrated in FIG. 5 (FIG. 5 also shows the tilting rotors, this characteristic being independent of the use of an external tracking system). There are a number of tags 501, for example at least three non-coplanar tags, of known position in the terrestrial frame. The beacons are arranged in a space circumscribing the ground projection of the area to be treated. These tags 501 each issue a signal of its own in space. There is a receiver 502 able to receive the signals emitted by each beacon, and to discriminate these signals. The receiver 502 is embedded on the flying apparatus. The on-board computer calculates the position of the receiver 502 by triangulating the signals obtained from the beacons 501. Such a system is similar to the ground positioning system known by the acronym GPS (ground positionning system). by replacing the satellites with ground beacons. The system also includes a control station 109. The control station 109 is on the ground. The control station 109 makes it possible to control the flying apparatus 115 remotely. The control station 109 will be described in more detail below. As a starting point, it can be said that the control station 109 comprises a processor 124. The control station 109 also comprises a communication module 125 for communicating with the flying apparatus 115. processor 124 of the control station, and the processor 119 of the flying apparatus 115. A wiring 121 can connect the flying apparatus 115 to the ground. The wiring 121 comprises, for example, electrical power cables for the various electrical components of the flying machine connecting the flying apparatus 115 to one or more energy sources 122 on the ground. It is possible to use a high-voltage cable (a few hundred volts) and a low-voltage cable 107 (some 25 tens of volts) isolated from one another. The energy source 122 comprises, for example, a mains socket, a generator, an electrical socket on a vehicle, etc. Such an arrangement provides an unlimited autonomy for the flying apparatus 115. The wiring 121 may also include a cable 123 connecting a control station 109 to the steering apparatus 115. The cable 123 enables the transfer of information between the control station 109 and the steering apparatus 115, in one direction and / or in the other. In a particular configuration, as shown in FIG. 2, it is possible to arrange the control station 109 on a vehicle 202, thus increasing the mobility of the system. These cables 123 (for example electrical or optical) also allow the exchange of information between the flying apparatus 115 and the control station 109, in order to discharge the flying apparatus from complex calculations, and to limit the weight of the embedded computing. Thus, depending on the embodiments, the computing tasks may be distributed between the processor 119 and the processor 124. Thus, in the present description, when it is said that a certain processor implements a certain task, it It should be understood that this is an embodiment and that, if necessary, this task could, at least in part, be relocated to another processor communicating with it. The flying apparatus 115 is equipped with a battery 116 which allows the emergency landing in the event of a fault in the ground supply, by delivering energy to the engine 106. The flying apparatus 115 10 can be equipped with an impact energy reduction mechanism in the event of a fall, such as an expellable parachute or automatic airbags. If necessary, the wiring 121 forms a safety link between the ground and the flying apparatus 115, so as to reduce the area of a possible crash zone. In a particular configuration, the flying apparatus 115 is equipped with an industrial light column 108 for indicating the state of the flying apparatus 115. The flying machine 101 also has an industrial robotic tool 114. Robotic tool 114 is carried by flying apparatus 115. Robotic tool 114 includes robotic arm 134 and utensil 133. Robotic tool 114 includes a plurality of segments 129 connected to each other by hinges 130. One of the segments 129 has a mounting portion 126 connected to the flying apparatus 115, and another segment 129 has an active working area 131. The robotic tool 114 is, for example, a tool extending, in a rest configuration, in a main direction between an end comprising the mounting portion 126 and an opposite end including the active working area 131. By "active work area" is meant a physical location of an active part of the work area. robotic tool. The robotic tool 114 includes a system of joints between the active working area 131 and the mounting portion 126. This system of joints allows relative movement of the working active area 131 and the mounting portion 126. This articulating system comprises at least one hinge 130. The robotic tool 114 comprises a controllable displacement system for, on command, moving relative to one another 40 two segments 129 of the robotic tool arranged from and other 3036992 14 of a hinge 130 of the system of joints, according to a degree of freedom. The displacement system comprises for example electric actuators, pneumatic, hydraulic, connecting two segments, or electric motors at the joints.
    [0017] According to one example, the robotic tool 114 has at least 6 axes 111, allowing a great latitude of movements. The "configuration" of the robotic arm, especially its spatial configuration, that is to say a given position thereof. According to one example, the robotic arm 134 has at least 7 axes 111, allowing a redundancy of the axes. For purely illustrative purposes, in FIG. 1, there is shown the robotic arm 134 extending in the plane (U, W). A first axis 1111 allows the rotation of the subsequent segments around the direction W. A second axis 1112 allows, in the illustrated configuration, the rotation of the subsequent segments around the direction V. In the illustrated configuration, there is a successive recourse to two other such pairs of axes, 1113 and 1114, then 1115 and 1116. A seventh axis 1117 allows a rotation in the plane of the last segment that is to say, in the drawing, about the axis U. In In these embodiments, the active working area 131 can be moved relative to the mounting portion independently by six degrees of freedom, i.e., three degrees of freedom of translation, and three degrees of freedom of orientation. Thus, when one speaks of "moving" the active working zone, reference is made to a translational movement, a rotational movement, or a combined movement according to 2 to 6 of these degrees of freedom. The robotic arm 134 includes a controller 132 determining, for a desired movement of the active working area 131, which segments 129 to move by means of the displacement system to respond to the motion request, in other words, in which spatial configuration place the robotic arm. The robotic tool 114 also includes sensors 105 which can be part of the acquisition system 118. The placement of the robotic tool 114 in a certain spatial configuration and the detection of obstacles is done by means of these sensors. These may be similar to those previously described in connection with the positioning of the flying apparatus 115 above. For purely illustrative purposes, a sensor 105 is shown at the mounting portion 126, and another sensor 105 is near the active working area 131.
    [0018] The robotic tool 114 also includes sensors 128 adapted to measure an operation of the robotic tool 114. These are, for example, encoders measuring motion at each joint. These are, for example, force sensors on each of the axes 111, which return information on the reactions imposed on the articulations 130 by the work utensils 133. This information is provided to the on-board computer 110 via an electrical connection between the robotic tool 114 and the flying apparatus 115, and is stored in the memory 120.
    [0019] According to an exemplary embodiment, the robotic tool 114 is fixed to the flying apparatus 115. According to one variant, the robotic tool 114 is placed near the zone to be treated by means of an offset mechanism 104. The robotic tool 114 may in particular take alternatively: a remote location, as shown in FIG. 1, in which the mounting portion 126 is situated peripherally with respect to the flying apparatus, or a central location, not shown, in FIG. which the mounting portion 126 is centrally located relative to the flying apparatus 115.
    [0020] The offset mechanism 104 includes, for example, a latch slide also provided with an encoder returning information to the on-board computer. An advantage of this offset mechanism is for example to place the robotic tool in its central location during an approach flight in which the flying apparatus moves from a starting position to a position close to the area to be treated. , and during which the robotic tool 114 is inactive. In this location, the robotic tool is maintained in particular in a spatial configuration where it introduces a slight imbalance on the flying apparatus. Once the flying apparatus stabilized in a position close to the area to be treated, the robotic tool can be placed in its remote location for the treatment of the area to be treated. In this location, the robotic tool may protrude, at least partially, from the perimeter of the flying apparatus 115, thereby bringing the active working area 131 closer to the area to be treated, without risk of collision between the flying apparatus 115 and this. The utensil 133 may be an adjustable utensil according to a setting parameter. Controller 132 can control the setting of utensil 133 according to its setting parameter. The apparatus 133 may also include one or more sensors obtaining information as to the use of the utensil. In one example, the utensil 133 is integrated at the end of the robotic arm 134.
    [0021] According to another exemplary embodiment, the robotic tool 114 comprises a robotic arm 134 and a separate utensil 133. In this case, the robotic arm 134 includes the mounting portion 126, the segments 129, the hinge system and the displacement system. The implement 133 includes the active working area 131.
    [0022] In this case, the robotic arm includes an assembly portion 127 for assembly to an implement 133. In addition, said robotic arm 134 includes a computer and mechanical adapter 113 for controlling and controlling the attached implement 133 and the exchange of operating status information between the implement 133 and the controller 132 and, if applicable, the on-board computer. If necessary, the computer and mechanical adapter 113 is adapted for fixing various utensils 133. The utensil 133 is then removably attached to the robotic arm 134. This provides a range of utensils that can be attached alternately to same robot arm 134. A feature of the device is the stabilization of the active working area 131, for example of the work utensil 133 fixed on the adapter 113. This stabilization is performed alternately or jointly by: movements made by modulating the thrusts of the rotors 103, the moving system of the robotic arm 134. For this, information characterizing the movement and its nature are captured, stored in the memory 120, and processed by a stabilization module 135 The information characterizing the movement may come from the sensors 105 previously mentioned. The environment around the flying apparatus 115 is in fact fixed in the terrestrial reference system.
    [0023] If a sensor 105 carried by the flying apparatus detects a change in distance from an obstacle, it is likely a movement of the flying apparatus 115 relative to this obstacle. The information characterizing the movement may also come from inertial units 112. As shown in FIG. 1, an inertial unit 112 is for example integral in displacement with the tool 133. These data are manipulated by the on-board computer 110. In particular, the on-board computer is adapted to process positioning data from various systems to determine the position of the flying apparatus and / or the working area. The taking into account of various information systems is carried out by a fusion algorithm, for example of the LevenbergMarquardt type. Depending on the data characterizing the measured movement, the onboard computer 110 may decide to modify the control of the rotors 103 and / or the moving system of the robotic tool 114. A working instruction can be assigned to the active zone 131. The work instruction is stored in the memory 120. The work instruction may for example include a path defined in the real reference. Path means location and orientation. The work instruction may also include a path defined with respect to the area to be treated. For example, for a drilling task, the working instruction could be to move a few centimeters in the initial direction of the forest. The work instruction may also include a certain range. For example, for a painting task, the instruction is to translate the active working area while maintaining a distance to the area to be treated between five and ten centimeters. The active working area 131 may have a predetermined path in the terrestrial frame or in the environment. A trajectory is said predetermined when the desired position in the terrestrial frame or in the environment for the active working area 131 at a later time is already known at a previous instant. This does not necessarily imply that the trajectory is determined entirely from the beginning of the flight. It suffices that the desired trajectory is known from an earlier moment, the duration between the previous instant and the present instant being at least of the order of the duration of a characteristic time necessary to make the flying apparatus perform 115 a displacement of the order of the amplitude of the trajectory between these two instants. Thus, the actuation of a displacement control of the work area makes it possible to determine a desired path for the work zone. For example, the desired trajectory may be fixed in the terrestrial frame.
    [0024] However, in a variant, the desired trajectory may comprise a displacement of the active working zone 131 in the terrestrial reference system according to one to six degrees of freedom. The processor 119 determines the current position of the active working area 131 from the position data stored in the memory 120. The processor 119 compares the current determined position of the active working area 131 with a desired later position defined by the set point. stored in the memory 120.
    [0025] If, notwithstanding the displacement provided for the working zone between these two instants, the difference between the two positions is greater than a predetermined threshold, the processor controls a compensatory movement of the flying machine 101. This compensating movement may comprise the one and / or the other of a displacement of the flying apparatus 115 and a change in the spatial configuration of the robotic tool 114. One and / or the other of these provisions is used. according to certain criteria. A criterion is, for example, the amplitude of the difference between the difference and the threshold. Another criterion is the degree of freedom of the compensatory movement. Another criterion includes flight conditions. Here are some examples of criteria that may influence the implementation of the compensatory movement: - the acceleration of the parasitic movement (the robotic tool is the fastest to compensate), 25 - the immediate environment of the device (is the flying device or the robotic tool risk a collision in the event of compensatory movement ), - the extension of the robotic arm (if the robotic arm has reached or is likely to reach a limit in one direction, one must 30 necessarily use a compensating displacement of the flying apparatus), - the amplitude of the compensatory movement (if the displacement is a few centimeters, the robotic arm will reposition itself more easily), 35 - the force applied to the flying machine and generating the parasitic movement (if it is a gust of wind, we may prefer to compensate the movement for a long time by the action of the rotors). According to one embodiment: the operator issues a positioning command of the active working zone 40, in order to place the active working zone in a desired position, a theoretical trajectory for the work zone follows; this command generates the application of a certain thrust on the flying apparatus and / or a change in the spatial configuration of the robotic tool, which leads to a certain positioning of the active working area; acquisition system detects the positioning obtained, - the processor compares the positioning obtained with the theoretical trajectory, 10 - in case of significant difference between the positioning obtained and the theoretical trajectory, the processor adapts the thrust exerted by the rotors and / or changing the spatial configuration to achieve the desired position at the work area. Some utensils are so-called passive utensils, in that they do not exert mechanical action on an area to be treated. Examples of such passive utensils include most of the sensors. One can think in particular of an optical camera 201, as shown in Figure 2. Other utensils can exert a mechanical action on an area to be treated. Some examples will be provided later. In this case, the reaction force exerted by the area to be treated on the tool can influence the movement of the flying apparatus 115 which, consequently, can affect the force applied by the tool on the area to be treated. treat, undesirably. The system described above can detect these unwanted movements due to the reaction, and control in response a movement of the flying machine. Alternatively or in complements, one uses, in this context, one or more force sensors carried by the robotic tool 114. Each force sensor detects reaction forces applied at a joint. The information provided by the force sensors may be used by the processor 119 to determine a way to ensure the correct positioning of the active working area. For example, if the detected forces are of a low level, the processor 119 may determine to control the correct positioning of the active working area only with the robotic tool 114. If the detected efforts are of a high level , the processor 119 may determine to control the correct positioning of the active working area by influencing the flight control of the flying apparatus 115. The change in the thrust of the flying apparatus 115 enables the balance of the force to be equalized. reaction of the area to be treated on the robotic tool. However, changing the thrust of the flying apparatus is also likely to change the position of the active working area. This displacement is then detected and compensated as described above. The system has a control station 109 equipped with a piloting control station 300 shown in FIG. 3. The piloting control station 300 is adapted to piloting the flying apparatus 115. The piloting control station 300 is also suitable for driving tools. It is possible to separate the two control stations, or integrate them in the same console, as shown. The control station has controls 312 for remote control of the flying machine. Said control station 300 includes flight parameter displays 307 informing the operator of the proper operation of the aircraft. In particular, it is possible to provide a light 308 dedicated to visualizing the available flight capabilities. It is also possible to provide buttons / displays relating to the working tool, for example the button / indicator 309 making it possible to start or stop the utensil, and presenting the information as to the operation or not of the utensil, or indicator 310 having the type of work tool (in the example, the indicator 310 shows in full the name of the tool (here indicated by "TOOL")). The control station 300 may also include commands. It is, for example, also equipped with quick access buttons 311 making it possible to change the flight mode of the aircraft among several available flight modes, as well as the triggering of prerecorded functions. The selected flight mode can be displayed on a light 304. In particular, it is possible to envisage at least three different flight modes, between which the user can alternate. A first flight mode is of the type of a standard pilot: the user controls the movement of the flying apparatus, all the flying gear moves according to this command. Such a mode may in particular be used to move the flying machine from the base station to the area to be treated (or in the opposite direction). A second flight mode only moves the robotic arm, the flying apparatus retaining its position. A third flight mode controls the movement of the active working area. This control can result in a displacement 40 of the robotic tool and / or the flying apparatus, whichever seems most appropriate. This determination takes into account in particular the information relating to the environment around the flying apparatus, determined by the acquisition system. In all the modes, the control station therefore makes it possible to impart a positioning command, in the real repository, of the active working zone. The control station 300 can also be equipped with an emergency stop button 313. The actuation of this button is intended to control the return to the ground of the flying machine safely and quickly.
    [0026] In addition, the control station 300 allows the video superimposition display of real-time information on the flight status. For example, it is expected to display the absolute position of the flying apparatus (the window 302 shows a representation of the flying apparatus with respect to the horizontal, according to a given projection, obtained from the measured data of the positions of the aircraft. flying apparatus 115). One can also superimpose a video inlay representing the horizontal, and icons representing the roll, pitch, yaw, of the flying apparatus. It is also possible to display the proximity environment (the window 306 has, in plan view, the flying apparatus (in the center), as well as two obstacles 314 identified previously or currently by the sensors 105). It is also possible to display the state of the robotic arm (the window 303 has a schematic representation of the robotic arm, as well as LEDs facing each articulation, displaying a level of effort exerted in each articulation). One can also provide a tool adjustment button, and an associated indicator. It is also possible to display a communication window, by which will be displayed informative messages intended for the user, such as, for example, current alerts (window 305, which indicates, in the example "LIMITATION COLLISION" Which indicates to the user that the movements of the flying machine are limited to prevent a risk of collision). Video cameras 215 enabling operator immersion, real-time visualization of the flight environment and the work environment are arranged at several locations on the aircraft. An example is shown in Figure 2. The detected video signal is transmitted to the control station 109 for display.
    [0027] At the level of the control 312, it is possible for example to provide a security system. The security system makes it possible to prohibit the user from controlling a movement deemed to be prohibited by the processor 124. If the processor 124 judges that a certain displacement 5 is prohibited, in particular because of the immediate proximity of an obstacle, determined thanks to the acquisition system, it can be provided that at the control station, the actuation of the command corresponding to this prohibited movement is prohibited. For example, at the level of the control 312, force return mechanisms limiting the travel and the operation of the controls 312 according to the environment of the flying machine are used to improve the immersion of the operator. . The control station may allow the operator to interactively define boundaries of the area to be treated, to define automatic areas to be treated by following patterns or manual areas. For this, the operator can use an interface tool (keyboard, mouse, touch screen) to indicate, for example on the window 306, the areas to be treated.
    [0028] In a particular configuration, as also shown in FIG. 2, the device is equipped with a cinema camera 201. In a particular configuration, the utensil applies a direct force to the area to be treated, for example a piercing or screwing.
    [0029] In a particular configuration, as shown in FIG. 4, the device is equipped with a spraying tool, such as a hydro-gumeuse 408 or a spray gun. In these latter two configurations, the force generated by projecting materials 405 against a building 404 can be countered by modulating the thrust of the rotors. A recovery mechanism 407, associated with the implement 133, makes it possible to recover the waste generated. To be able to circulate the working material from a reserve 402, a complementary pipe 403 is deputy. By way of non-limiting example, the device is particularly suitable for façade renovation work of buildings. The utensil could be a renovation LASER. Another detailed example will be given below. Initially, the flying machine 101 is on the ground, near the control station 109 (possibly mounted on a vehicle).
    [0030] The flying machine 101 is connected to the control station 109 by a wiring including a power cable, a data transfer cable, and a safety rope. The system is started. The removable utensil is assembled at the end of the robotic arm 134. This is a hydro-gumeuse 408. This is connected by a pipe 403 to a reserve 402 of etching material. The pipe 403 is, if necessary, loosely assembled to the wiring by a wire clamp. The system is configured to indicate that the utensil is a hydro-gummy 408. The use of the force sensors is then activated. If necessary, the configuration of the system provides a set of predefined information relating to the utensil, and used in the context of the method, such as the weight, the inertia of the utensil or a profile of reaction force as a function of the distance between the active working zone and the zone to be treated, pre-established during an earlier calibration step of the utensil. The offset mechanism 104 is in its central location. The articulated arm is for example in a compact spatial configuration involving a small footprint, and low inertia for the flying machine. A point is defined as the origin of the real repository, for example the position of the active working zone in its original position. The axis system uses, for example, the vertical Z. For X axis, the axis of the horizontal plane is selected in which the water gum, in the current position, will generate a jet of abrasive material, the Y axis completing the trihedron. The operator proceeds to an approach flight during which, by means of the command 312, he controls the movement of the flying machine, from the ground towards the area to be treated. During this trip, the acquisition system detects the proximity of obstacles (in particular, the building to be treated or a building near the area to be treated). On the other hand, the processor 124 repeatedly calculates the position of the active working zone, which is obtained simply from the initial position thereof, and the change of position of the flying apparatus during the flight of the aircraft. 'approach. The operator may consider having reached a satisfactory position for the flying apparatus. In a variant, the system prohibits the flying apparatus from approaching the area to be treated, as explained above.
    [0031] The flying apparatus is held in stationary flight. During this flight, the position of the steering wheel apparatus is likely to vary around a reference position, under the effect of wind or aerodynamic turbulence. These displacements are, however, detected by the acquisition system, which determines the instantaneous location and orientation of a particular point of the flying apparatus (e.g. center of gravity). The robotic tool is placed in a ready-to-work configuration. This involves offsetting via the offset mechanism, and moving the active working area. Via the encoders integrated in these mechanisms, it is possible to precisely know instantly the location and orientation of the active working area in the repository of the flying apparatus. Since the location and orientation of the flying apparatus are known in the environment (either absolutely in the actual frame of reference or relative to an obstacle), the Location and orientation of the active working area in the environment are known instantly.
    [0032] This deployment implies a change of inertia and windward grip of the flying machine which, in the absence of simultaneous changes in the flight, involves movements of the flying machine in the real frame of reference. These movements are detected by the acquisition system and, if necessary, compensated at the level of the flying apparatus and / or the robotic arm. If necessary, the change of inertia due to the spatial configuration change of the robotic tool is known beforehand, and the compensatory movements to be applied are also known. For example, pre-recorded data may be used during test flights. In this case, the on-board computer can, when it receives the deployment command of the robotic tool, already anticipate the compensating movement. The acquisition system then has a role of control and security. The flying machine is then in the configuration 35 shown in Figure 4, ready to use the utensil. In use, the utensil must follow a predetermined path. For example, it may be envisaged that the utensil must remain with its horizontal projection axis and perpendicular to the facade of the building to be treated, and be moved, with this orientation, parallel to the facade of the building, for example according to a succession. horizontal lines spaced from each other in the vertical direction, from top to bottom. The articulated arm has a range of displacement less than the surface of the facade to be treated.
    [0033] In this purely illustrative example, in the given position of the flying apparatus, it will be possible to treat only part of the facade. The operator actuates the hydro-gummy 408 by actuating the control button 309. The projection on the facade generates a reaction force which involves a moment of force around the inertial center of the flying machine as a whole. The reaction force is detected by the force sensors. This measurement is taken into account to keep the working area active. This taking into account involves a rapid change in the thrust, and especially a compensation at the articulated arm, the time that the flying device is stabilized again in this new position. Here again, on-board data from prior calibration tests can make it possible to anticipate the feedback to be applied to compensate for the movement due to the effort of using the tool. In particular, in this case, it is possible to use data from prior calibration tests. During this calibration test, for example, for a given tool, a test matrix is made by varying various parameters affecting the reaction force on the flying machine, such as, in particular, the location of the point of rotation. applying the force relative to the inertial center of the flying apparatus, locating the point of application of the force relative to the surface to be treated, and / or one or more adjustment parameters of the utensil, and measuring the response of the flying apparatus to the application of the reaction force. According to one embodiment: the operator issues an operation command of the utensil, besides controlling the operation of the utensil, this command generates the determination by the on-board computer of a change of the parameters of the device. flight and / or spatial configuration of the robotic tool, from an estimate of the forces applied (obtained from the position and adjustment information of the implement), and from a predetermined rule connecting the forces applied to a displacement of the flying apparatus, - the flight parameters and / or spatial configuration of the robotic tool are modified simultaneously with the implementation of the utensil. Alternatively, calibration tests are not necessarily used, the system learning on its own as the utensil is used. Thus, the first uses of the utensil make it possible to calibrate the system. The on-board computer 10 records the compensation movements generated to ensure proper use of the utensil during the first uses, and uses these records as a calibration database. The operator controls, by means of the control 312, a displacement of the active working zone in a horizontal linear displacement parallel to the surface to be treated. This movement can be supported essentially by the articulated arm, which however implies a change in the moment of force applied to the flying machine, by shifting the point of application of the reaction force applied to the flying machine. The associated movement of the flying apparatus is compensated at the articulated arm to ensure compliance with the pre-determined setpoint. At the end of the horizontal line segment, the active working area is translated vertically, and a new line is processed, and so on until the completion of this facade part. Once this facade portion is completed, the hydro-gummy can be cut off, and the flying apparatus moved to a new starting position, where the process described above can be restarted. However, alternatively, in a case like this, one could predict not to move the active working area using the articulated arm, but to move the aircraft flying along the facade continuously, to which the process is not limited to processing different locations one after the other. The arm then serves only to compensate for imperfections in the flight path. The use case above is a simple example. In the example of Figure 4, the building wall is not flat, but rather has a stepped structure. The simple process described above 40 brings the active working area closer to the wall 3036992 27 to be treated, which can be prohibited by risk of collision, and may therefore require to move the flying device away from the facade. If the movement is not forbidden, it will nonetheless lead to a change in the reaction applied by the facade to the flying machine, which will be detected by the force sensors and / or by means of pre-existing rules. determined connecting the effort applied to the distance to the facade and, where appropriate, the setting of the utensil. If necessary, the hydro-gummy is adjustable, according to a controllable setting parameter from the control station 109. A setting is for example the flow rate or the focal length of the material jet. This setting will necessarily impact the reaction force, in a way that will be treated as explained above. The above example relates to the simple case of moving the active working area remaining always oriented perpendicular to the facade. However, it is not always possible to do this. Indeed, as shown in Figure 4, the facade may include recesses, angles, or other geometrical features. The system directs the active work area to address these features. The description, made above, of taking into account the displacement of the flying machine to ensure the correct positioning of the active working area, also applies to this case. It also applies to the compensation of undesired movements of the flying machine, in particular because of shocks due to malicious acts (jet of objects). Alternatively, one could use several robotic tools carried by the same flying apparatus, and implement the principles presented above taking into account the plurality of robotic tools. Although an invention has been presented here generally, it appears that, apart from this invention, there are in the above description various particular systems or subsystems which constitute inventions which the applicant reserves the right to subsequently to protect independently of the invention initially referred to.
    权利要求:
    Claims (32)
    [0001]
    REVENDICATIONS1. Remote working system (100) which comprises a flying machine (101) comprising: - a flying apparatus (115), without an on-board pilot, whose movements are controllable remotely, characterized in that the flying machine also comprises a robotic tool (114) comprising: a plurality of segments (129) connected to each other by hinges (130), one of the segments having a mounting portion (126) connected to the flying apparatus (115) and another segment having an active working area (131), wherein a hinge system (s) between the active working area (131) and the mounting portion (126) allows relative movement of the active area working piece (131) and the mounting portion (126), comprising at least one articulation (130), o a controllable displacement system adapted, on command, to move two segments (129) relative to each other ) of the robotic tool (114) disposed on either side of a hinge (130) the articulation system (s), and in that the system further comprises: a control station (109) comprising: o flight parameter displays informing an operator of the operation of the flying machine (101), a control station (300), adapted to impart remotely control of a displacement of the active working zone (131), a stabilization module (135) of said robotic tool (114) comprising: o a memory ( 120) storing a predetermined setpoint for positioning the active working area (131) in the environment, o at least one acquisition system (118) adapted to determine at least one piece of information relating to the robotic tool (114) 35 and to provide this information, a calculator (119) adapted to determine a displacement of the flying apparatus (115) and / or a spatial configuration of the robotic tool (114) from the predetermined setpoint and said information delivered by the system 28 3036992 29 acquisition (118), so that the difference between the position in the environment of the active working area (131) and the predetermined setpoint remains below a predetermined threshold.
    [0002]
    2. System according to claim 1, wherein the flying apparatus (114) comprises at least one rotor (103), preferably at least four rotors, for modifying the axis of orientation of the thrust.
    [0003]
    3. System according to claim 1 or 2, wherein the flying apparatus (114) comprises at least one electric motor (106) adapted to drive a rotor (103).
    [0004]
    4. System according to any one of claims 1 to 3, wherein the flying apparatus (114) comprises blades (102) mounted on a rotor (103).
    [0005]
    5. System according to any one of claims 1 to 4, wherein the flying apparatus carries a sensor, part of the acquisition system, including optical, LIDAR, or radio, RADAR (105), for detecting an environment. flight, an obstacle and / or a work environment.
    [0006]
    6. System according to any one of claims 1 to 5, wherein the flying apparatus (114) comprises an on-board computer (110).
    [0007]
    7. System according to any one of claims 1 to 6, wherein the flying apparatus (114) comprises a battery (116).
    [0008]
    8. System according to any one of claims 1 to 7, wherein the flying apparatus (114) comprises an expellable parachute or automatic airbags.
    [0009]
    The system of any one of claims 1 to 8, further comprising a cable (121) connecting the flying machine (101) to the control station (109), and wherein the cable (121) comprises a cable power supply.
    [0010]
    The system of any one of claims 1 to 9, further comprising a cable (121) connecting the flying machine (101) to the control station (109), and wherein the cable (121) comprises a cable low voltage electric (107).
    [0011]
    11. System according to any one of claims 1 to 10, further comprising a cable (121) connecting the flying machine (101) to the control station (109), and wherein the cable (121) allows a 29 3036992 30 exchange of information between the flying apparatus and the control station.
    [0012]
    The system of any one of claims 1 to 11, further comprising a cable (121) connecting the flying machine (101) to the control station (109), and wherein the cable (121) carries a medium of work between the ground and the flying machine (101).
    [0013]
    13. System according to any one of claims 1 to 12, further comprising a cable (121) connecting the flying machine (101) to the control station (109), and wherein the cable forms a safety link. between the flying machine (101) and the ground.
    [0014]
    14. System according to one of claims 1 to 13, further comprising a mobile land or water vehicle (202) carrying the control station (109).
    [0015]
    15. System according to one of claims 1 to 14, wherein the articulation system (s) comprises at least six axes (111), including at least seven axes.
    [0016]
    16. System according to one of claims 1 to 15, wherein the flying machine further comprises one and / or the other of the following characteristics: a. an offset mechanism (104) adapted to move the robotic tool (114) between a central location and a remote location relative to the flying apparatus (115), b. the robotic tool (114) comprises an articulated arm (134) comprising at least the mounting portion (126), and an active utensil (133) including the active working area (131), the robotic tool (114) further comprising, preferably, a computer and mechanical adapter (113) for securing / disengaging the articulated arm (134) to / from the active utensil (133) and allowing the utensil (133) to be controlled by exchanging information between the utensil (133) and an on-board computer (110) of the flying machine (101).
    [0017]
    17. System according to one of claims 1 to 16, wherein the control station (300) is equipped with controls and force feedback mechanisms limiting the movement and operation of the controls (312) as a function of the environment of the flying machine (101).
    [0018]
    18. System according to one of claims 1 to 17, wherein the acquisition system (118) comprises one and / or the other of: o LIDAR or RADAR sensors (105) carried by the flying apparatus (115) and / or the robotic tool (114), or an inertial unit (112) carried by the flying apparatus (115) and / or the robotic tool (114), particularly the active working zone (131), o an encoder of at least one articulation (130).
    [0019]
    19. System according to one of claims 1 to 18, wherein the acquisition system (118) comprises force sensors articulated arm (134), and wherein the computer (119) determines a displacement of the flying apparatus (115) and / or a spatial configuration of the robotic tool (114) also from the measurements of the force sensors.
    [0020]
    20. System according to one of claims 1 to 19, characterized in that it further comprises a positioning system external to the flying apparatus, in particular on the ground, the positioning of the flying apparatus being furthermore achieved. with the positioning system (501, 502) external to the flying apparatus.
    [0021]
    21. System according to one of claims 1 to 20, further having one and / or the other of the following characteristics: - an inclination of the at least one rotor (103) of the flying apparatus (115) can be varied to modify a force exerted by the robotic tool (114); the rotors (103) are intermeshing. 25
    [0022]
    System according to any one of claims 1 to 21, wherein the system comprises a processor system (120, 124) adapted to receive a command of the robotic tool (114) at the station control device (109) for modifying the thrust of the flying apparatus (115) according to a change of inertia of the robotic tool (114).
    [0023]
    System according to any one of claims 1 to 22, wherein the system comprises a processor system (120, 124) adapted to receive a positioning control of the work area (131) at the the control station (109), for modifying the thrust of the flying apparatus (115) and / or the spatial configuration of the robotic tool (114).
    [0024]
    System according to any one of claims 1 to 23, wherein the system comprises a processor system (120, 124) adapted to receive an operating command from the work area (131) at the level of the control station (109), for modifying the thrust of the flying apparatus (115) and / or the spatial configuration of the robotic tool (114) as a function of a reaction force exerted on the flying machine (101) by the operation of the working area (131). 5
    [0025]
    25. System according to any one of claims 22 to 24, wherein one and / or the other of these modifications is carried out taking into account furthermore an on-board sensor for positioning the flying machine (101). . 10
    [0026]
    26. System according to any one of claims 22 to 25, wherein one and / or the other of these modifications is carried out taking into account furthermore an on-board sensor for positioning the robotic tool (114). .
    [0027]
    27. System according to any one of claims 22 to 26, wherein one and / or the other of these modifications is carried out taking into account furthermore an on-board positioning sensor of the working area (131). ).
    [0028]
    28. System according to any one of claims 22 to 27, wherein one and / or the other of these modifications is carried out taking into account also a force sensor of the robotic tool (114). ).
    [0029]
    29. A system according to any one of claims 22 to 28, wherein one and / or the other of these modifications is carried out taking into account further a ground sensor (501) for positioning the flying craft (101).
    [0030]
    30. System according to any one of claims 22 to 29, wherein one and / or the other of these modifications is performed taking into account further a pre-established rule connecting the modification and control. 30
    [0031]
    31. System according to one of claims 1 to 30, wherein the information determined by the acquisition system (118) relates to a position, an inertia and / or a movement of the robotic tool (114). , the flying apparatus (115) and / or the flying machine (101). 35
    [0032]
    32. System according to one of claims 1 to 31, wherein the information determined by the acquisition system (118) relates to a reaction force exerted on the flying machine (101). 32
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    同族专利:
    公开号 | 公开日
    EP3303129B1|2020-09-30|
    EP3303129A1|2018-04-11|
    WO2016198775A1|2016-12-15|
    FR3036992B1|2019-04-19|
    引用文献:
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    法律状态:
    2016-04-29| PLFP| Fee payment|Year of fee payment: 2 |
    2016-12-09| PLSC| Search report ready|Effective date: 20161209 |
    2017-04-26| PLFP| Fee payment|Year of fee payment: 3 |
    2018-04-27| PLFP| Fee payment|Year of fee payment: 4 |
    2018-09-28| CA| Change of address|Effective date: 20180824 |
    2019-04-26| PLFP| Fee payment|Year of fee payment: 5 |
    2020-05-25| PLFP| Fee payment|Year of fee payment: 6 |
    2021-05-23| PLFP| Fee payment|Year of fee payment: 7 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1555204|2015-06-08|
    FR1555204A|FR3036992B1|2015-06-08|2015-06-08|REMOTE WORKING SYSTEM|FR1555204A| FR3036992B1|2015-06-08|2015-06-08|REMOTE WORKING SYSTEM|
    PCT/FR2016/051352| WO2016198775A1|2015-06-08|2016-06-07|Remote working system|
    EP16733658.5A| EP3303129B1|2015-06-08|2016-06-07|Fernarbeitssystem|
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