• 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 invention relates to a method for capturing a video using a camera mounted on a fixed-wing drone (14), the camera comprising an image sensor (28), the drone (14) ) with fixed wing comprising an inertial unit (56) configured to measure the roll angle, the pitch angle and / or the yaw angle of the fixed wing drone. This method comprises obtaining (106) image (s) corresponding to an area of the sensor of reduced dimensions relative to those of the sensor and associated with a shooting mark, the position of the area being determined (108) from the orientation of the obtained shot mark (110) as a function of the roll angle, the pitch angle, and / or the yaw angle of the fixed-wing drone.
    公开号:FR3055078A1
    申请号:FR1657728
    申请日:2016-08-11
    公开日:2018-02-16
    发明作者:Henri Seydoux；Frederic PIRAT；Arnaud Chauveur
    申请人:Parrot Drones SAS；
    IPC主号:
    专利说明:

    055 078
    57728 ® FRENCH REPUBLIC
    NATIONAL INSTITUTE OF INDUSTRIAL PROPERTY © Publication number:
    (to be used only for reproduction orders)
    ©) National registration number
    COURBEVOIE © Int Cl 8 : H 04 N 5/232 (2017.01), G 06 T3 / 00, G 01 C 21/16, B 64 C 39/02
    A1 PATENT APPLICATION
    ©) Date of filing: 11.08.16. (© Applicant (s): PARROT DRONES Company by (© Priority: simplified actions - FR. @ Inventor (s): SEYDOUX HENRI, PIRAT FREDE- RIC and CHAUVEUR ARNAUD. (43) Date of public availability of the request: 16.02.18 Bulletin 18/07. ©) List of documents cited in the report preliminary research: Refer to end of present booklet (© References to other national documents ©) Holder (s): PARROT DRONES Joint-stock company related: simplified. ©) Extension request (s): (© Agent (s): LAVOIX.
    FR 3 055 078 - A1 (34) METHOD FOR CAPTURING IMAGE (S), COMPUTER PROGRAM, AND ELECTRONIC SYSTEM FOR CAPTURING ASSOCIATED VIDEO.
    ©) The invention relates to a method of capturing a video using an on-board camera on a fixed-wing drone (14), the camera comprising an image sensor (s) (28), the drone (14) fixed wing comprising an inertial unit (56) configured to measure the roll angle, the pitch angle and / or the yaw angle of the fixed wing drone.
    This method comprises obtaining (106) image (s) corresponding to an area of the sensor of reduced dimensions compared to those of the sensor and associated with a shot mark, the position of the area being determined (108) from the orientation of the shot mark obtained (110) as a function of the roll angle, the pitch angle and / or the yaw angle of the fixed-wing drone.

    Method for capturing image (s), computer program, and electronic system for capturing video
    The present invention relates to a method of capturing a video using an on-board camera on a fixed-wing drone, the camera comprising an image sensor (s).
    In particular, the fixed-wing drone is in particular of the flying wing type. In the following, a "drone" designates an unmanned aircraft on board. A drone is autonomous or remotely controlled, in particular using a joystick.
    The invention also relates to a computer program comprising software instructions which, when executed by a computer, implement such a method of capturing a video.
    The invention also relates to an electronic system for capturing a video comprising a fixed-wing drone and an on-board camera on the fixed-wing drone, the camera comprising an image sensor (s).
    We know rotary-wing drones, for example of the quadricopter type, which can hold a fixed point and evolve as slowly as desired, which makes them very easy to fly even by inexperienced users.
    Fixed-wing drones, especially those of the flying wing type, can evolve at high speeds, typically up to 80 km / h, and are, in comparison with rotary-wing drones, quite difficult to fly given their very high reactivity to the piloting instructions sent from the joystick, and the need to maintain a minimum flight speed, greater than the stall speed.
    These difficulties are increased particularly critically in the case of drones of the flying wing type. Indeed, these drones are devoid of tail and fin, and therefore do not have any movable vertical surface for direction control (like a flap placed on the fin, in the case of a conventional aircraft). The flying wing is provided, as control surfaces, only with two movable flaps placed on the trailing edges of the wings: displacements of these flaps in the same direction modify the attitude in pitching (angle Θ) of the drone, while displacements in opposite directions of these two flaps modify the roll attitude (angle φ) of the drone, and the latter does not have any other aerodynamic means of trajectory control, apart from controlling the engine speed.
    To make the drone evolve, the user must therefore control the position of the two flaps from his joystick to modify the pitch and roll attitude of the drone, modification possibly accompanied by an increase or decrease in speed .
    Such a flight mode is anything but easy and intuitive, and the difficulty is further increased by the very unstable nature, in particular when cornering, of a flying wing compared to an aircraft equipped with a fin.
    Solutions have been developed to allow a user, even a novice, to optimize the piloting of a fixed-wing drone, in particular a flying wing type drone. Such solutions are based on the use by the user of simplified commands (hereinafter "piloting instructions >> of the type" turn right >> or "turn left >>," go up >> or "go down >>, "accelerate" or "slow down", these instructions being generated for example using the joysticks of the control lever.
    It is also possible to provide such a fixed-wing drone with equipment for carrying out particular tasks. It is in particular possible to equip the fixed-wing drone with a camera having an image sensor (s), for taking videos.
    The image sensor (s) is, for example, associated with a hemispherical objective of hypergone type (from the English fisheye), that is to say covering a visual field from a wide angle of view, from 'order 180 ° or more. The camera takes the image sensor (s) and the lens in front of the image sensor (s) so that the image sensor (s) can capture images through the lens.
    The drone's video camera can be used for piloting in immersive mode, that is to say where the user uses the image of the camera 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.
    It is desirable that the images obtained using the camera are obtained according to a relevant shooting reference point relative to the flight phase of the drone, and this without modifying the physical orientation of the camera, which remains stationary by compared to the fixed-wing drone.
    In the following, "flight phase", designates a flight state (ie a flight scenario) characteristic of the drone, including the absence of flight (ie the fixed-wing drone is raised), a flight state being identified by a set of parameters, distinct from one flight state to another.
    Indeed, depending on the flight phase of the fixed-wing drone, namely for example a flight phase during which the fixed-wing drone makes a turn, a flight in a straight line, an ascent, a descent, a takeoff , a landing, in accordance with the piloting instructions of the user, it is not relevant for the shot mark, imposing the pointing direction of the camera to remain invariant.
    One of the aims of the invention is therefore to propose a method of capturing a video using a camera on board a fixed-wing drone, the camera comprising an image sensor (s), allowing the 'user to acquire shots adapted to the phases of flight in order to make the video more pleasant especially when the user is wearing an immersive viewing system (also called "FPV vision" from English First Person View).
    To this end, the subject of the invention is a method of capturing a video using a camera on board a fixed-wing drone, the camera comprising an image sensor (s), the fixed-wing drone comprising an inertial unit configured to measure the roll angle, the pitch angle and / or the yaw angle of the fixed-wing drone, the method comprising obtaining corresponding image (s) to an area of the sensor of reduced dimensions compared to those of the sensor and associated with a shot mark, the position of the area being determined from the orientation of the shot mark obtained as a function of the angle roll, pitch angle and / or yaw angle of the fixed-wing drone.
    The method of capturing a video according to the invention makes it possible to obtain a video using the on-board camera on a fixed-wing drone directed in an optimized direction whatever the phase (ie the state) of flight whose attitude is characterized by at least one of the Euler angles, namely the pitch angle, the roll angle and the yaw angle.
    In other words, the method according to the invention allows an adjustment of the direction aimed by the on-board camera on the fixed-wing drone according to the flight phase in progress.
    The shooting is therefore optimized whatever the flight phase of the fixed-wing drone. The video reproduction is then improved for the user. Better user assistance is also obtained during piloting, in particular when the user essentially bases his piloting on the real-time reproduction of the images filmed by the camera.
    According to other advantageous aspects of the invention, the method of capturing a video comprises one or more of the following characteristics, taken in isolation or in any technically possible combination:
    - when the drone is placed, the orientation of the shot mark is equal to that of the drone,
    - during a take-off phase, the drone and / or during a drone landing phase, the orientation of the shot mark is equal to the attitude of the drone filtered by a pass filter low,
    - when the drone flies according to a rectilinear trajectory and at constant altitude, the shooting reference point has a zero roll angle, a zero pitch angle and a yaw angle configured to orient the shooting in a fixed direction corresponding to the direction of the drone's race at the end of the last turn made by the drone,
    - when the drone makes a turn, the shot mark has a roll angle corresponding to a roll instruction followed by the drone, a zero pitch angle, and a yaw angle equal to the yaw angle of the drone filtered by a low pass filter,
    - when the drone makes an ascent or a descent according to a rectilinear trajectory, the shot mark has a zero roll angle, a pitch angle equal to a pitch instruction followed by the drone, and a yaw angle determined for direct the shot in a fixed direction corresponding to the direction of the drone's race at the end of the last turn made by the drone,
    - when the drone ascends or descends when cornering, the shot mark has a roll angle corresponding to a roll instruction followed by the drone, a pitch angle equal to a pitch instruction followed by the drone, and a yaw angle equal to the yaw angle of the drone filtered by a low-pass filter,
    - when the drone flies according to a rectilinear trajectory and at constant altitude and initiates a turn, the shooting reference point has a roll angle equal to a roll instruction followed by the drone, a pitch angle of zero, and an angle of determined yaw to orient the shooting in a fixed direction corresponding to the direction of the drone's race at the end of the last turn made by the drone,
    - when the drone performs an ascent or a descent following a rectilinear trajectory and initiates a turn, the shooting reference point has a roll angle equal to a roll instruction followed by the drone, a pitch angle equal to a instruction of pitch followed by the drone, and a yaw angle determined to orient the shooting in a fixed direction corresponding to the direction of the race of the drone at the end of the last turn made by the drone,
    - when the drone flies according to a rectilinear trajectory and at constant altitude with a misalignment compared to the target trajectory, the shooting reference point has a zero roll angle, a zero pitch angle, and a yaw angle equal to l yaw angle of the drone filtered by a low-pass filter
    - when the drone performs an ascent or a descent following a rectilinear trajectory with a misalignment compared to the target trajectory, the shot mark has a zero roll angle, a pitch angle equal to a pitch instruction followed by the drone, and a yaw angle equal to the yaw angle of the drone filtered by a low-pass filter,
    - during the transition period between at least two shooting reference orientations associated respectively with at least two flight phases, the orientation of the shooting reference during the transition period is obtained by application of an interpolation linear spherical comprising at least one weighting by at least one weighting coefficient whose value changes progressively during the transition period.
    The invention also relates to a computer program comprising software instructions which, when executed by a computer, implement a method as defined above.
    The invention also relates to an electronic video capture system comprising a fixed-wing drone and a camera on board the drone, the camera comprising an image sensor (s), the fixed-wing drone comprising a central inertial configured to measure the roll angle, the pitch angle and / or the yaw angle of the fixed-wing drone, the electronic video capture system further comprising an obtaining module configured to obtain at least one image corresponding to an area of the sensor of reduced dimensions compared to those of the sensor and associated with a shot mark, the obtaining module being configured to determine the position of the area from the orientation of the shot mark view obtained as a function of the roll angle, the pitch angle and / or the yaw angle of the fixed-wing drone.
    These characteristics and advantages of the invention will appear on reading the description which follows, given solely by way of nonlimiting example, and made with reference to the appended drawings, in which:
    - Figure 1 is a perspective view of an electronic video capture system according to the invention, comprising a fixed-wing drone of the flying wing type, operating in the air under the control of remote control equipment;
    - Figure 2 is a partial schematic representation of the modules constituting the electronic video capture system according to the invention;
    - Figure 3 is a block diagram of an automatic pilot integrated in the fixed-wing drone;
    - Figure 4 is a flow diagram of a method of capturing a video according to the invention; and
    - Figure 5 is a schematic representation of the determination of the orientation of the shot mark during a transition between at least two distinct flight phases;
    FIG. 6 is a schematic representation of the images corresponding respectively to the overall field of the camera obtained on the image sensor (s), to the projection of the image obtained by the objective associated with the image sensor, and to the zone whose position is determined according to the invention.
    In FIGS. 1 and 2, an electronic video capture system 1 allows a user 12 to optimize the obtaining of images using a camera on board a drone 14, in particular a fixed wing, in particular of the flying wing type.
    The fixed-wing drone 14 comprises a drone body (fuselage) 26 provided at the rear with a propeller 24 and laterally with two wings 22, these wings extending the drone body 26 in the illustrated configuration of the flying wing type. On the trailing edge side, the wings 22 are provided with control surfaces 18 which can be oriented by means of servomechanisms to control the trajectory of the drone.
    In flight, the drone 10 operates in:
    a) rotation about a pitch axis 42, to modify the altitude
    b) rotation about a roll axis 44, to turn right or left; and
    c) speed, by changing the throttle regime,
    The drone 14 is also provided with an image sensor (s) 28 configured to acquire at least one image of a scene, and a transmission module, not shown, configured to transmit, preferably by radio waves, to the destination electronic equipment, such as the reception module, not shown, of the electronic display system 10, the reception module, not shown, of the control lever 16 or also the reception module of the digital multimedia tablet 70 to touch screen mounted on the controller 16, not shown, the image or images acquired by the image sensor (s) 28.
    The image sensor (s) 28 is, for example, associated with a hemispherical objective of hypergone type (from the English fisheye), that is to say covering a visual field from a wide angle of view, from around 180 ° or more. The projection 300 of the image obtained by the hypergone objective associated with the image sensor (s) 28 is represented in FIG. 6. The camera comprises the image sensor (s) 28 and the objective disposed in front of the sensor image (s) 28 so that the image sensor (s) 28 captures the images through the lens.
    In the example of FIG. 2, the fixed-wing drone 14 further comprises an information processing unit 50, formed for example of a memory 52 and of a processor 54 associated with the memory 52.
    The fixed-wing drone 14 also includes an inertial unit 100 configured to measure the roll angle φ, the pitch angle Θ and / or the yaw angle ψ of the fixed-wing drone 14.
    In the example of FIG. 2, the inertial unit 100 comprises the gyrometer (s) 132, the accelerometer (s) 134 and the attitude estimation circuit 146 as also shown in FIG. 3 illustrating an example of a functional block diagram of an automatic pilot integrated into the fixed-wing drone.
    The fixed-wing drone 14 also includes an obtaining module 62 for obtaining at least one image corresponding to an area Zc of the sensor of reduced dimensions compared to those of the sensor and associated with a shot mark, the obtaining 62 being configured to determine the position P Zc of the zone Zc from the orientation of the shot mark obtained as a function of the roll angle, the pitch angle and / or the angle of fixed wing drone lace.
    The image sensor (s) 28 is the photosensitive member of the camera. This is for example a CMOS sensor. The zone Zc is a fraction of the image sensor (s) 28.
    The image sensor (s) 28 associated with the lens is capable of providing an overall image corresponding to an overall field 200 of the camera as shown in FIG. 6. The zone Zc of the image sensor (s) 28 corresponds to a window of the overall field of reduced dimensions compared to those of the overall field. The acquired image corresponding to the zone Zc is the image which would be acquired by this zone Zc, without using the rest of the image sensor (s).
    Obtaining an image from an area Zc of reduced dimensions of the image sensor (s) makes it possible to virtually orient the axis of shooting of the camera in the direction of the window of the field of view. assembly of the camera corresponding to the zone Zc of reduced dimensions, without modifying the physical orientation of the camera, which remains stationary relative to the fixed-wing drone 14.
    According to a first variant, the obtaining module 62 comprises an image data acquisition module d h not shown, configured to acquire image data from the entire surface of the image sensor ( s), and a digital image data processing module, not shown, configured to deliver video images corresponding only to the zone Zc, the position of the zone Zc being determined from the orientation of the take mark of view obtained as a function of the roll angle, the pitch angle and / or the yaw angle of the fixed-wing drone 14.
    According to a second variant, the obtaining module 62 only comprises an image data acquisition module, not shown, configured to acquire image data only in the zone Zc during video production, the position of the area Zc being determined from the orientation of the shot mark obtained as a function of the roll angle, the pitch angle and / or the yaw angle of the fixed-wing drone 14.
    In the example of FIG. 2, the inertial unit 100 configured to measure the roll angle, the pitch angle and / or the yaw angle of the fixed-wing drone and the obtaining module 62 configured for each image is obtained so as to include software executable by the processor 54. The memory 52 of the information processing unit 50 is then able to store measurement software configured to measure the instantaneous attitude of the fixed-wing drone 14 defined by the roll angle, the pitch angle and / or the yaw angle, and obtaining software configured to obtain at least one image corresponding to an area Zc of reduced dimensions compared to to those of the image sensor (s) 28, the position of the zone Zc being determined from the orientation of the shot mark obtained as a function of the roll angle, the pitch angle and / or the yaw angle of the drone at fixed wing 14, and / or, depending on the flight phase, from a roll instruction and / or a pitch instruction.
    The processor 54 of the information processing unit 50 is then able to execute the measurement software and the obtaining software by means of a computer program.
    An electronic display system 10 allows the user 12 to view images, in particular images of the video received from the fixed-wing drone 14.
    The electronic display system 10 comprises an electronic device, for example, a computer (from the English smartphone), provided with a display screen, and a headset 20 comprising a support for receiving the electronic device, a surface of support against the face of the user 12, facing his eyes, and two optical devices arranged between the reception support and the support surface.
    The helmet 20 also has a holding strap 32 allowing the helmet 20 to be held on the head of the user 12.
    The electronic device is removable from the helmet 20 or integrated into the helmet 20.
    The electronic display system 10 is, for example, connected to a controller 16 via a data link, not shown, the data link being a radio link or even a wired link.
    In the example of FIG. 1, the electronic display system 10 further comprises a reception module, not shown, configured to receive at least one image from the fixed-wing drone 14, the transmission of the image being preferably carried out by radio waves.
    As a variant, not shown, the joystick 16 is configured to receive at least one image from the fixed-wing drone 14 and to transmit it to the electronic display system 10.
    The display system 10 is for example a virtual reality display system, that is to say a system allowing the user 12 to view an image in his visual field, with a field of view angle, also called FOV (from the English Field Of Vision, or Field Of View), having a significant value, typically greater than 90 °, preferably greater than or equal to 100 °, in order to provide an immersive vision (also called "FPV vision") First Person View) for user 12.
    The joystick 16 is known per se, and allows for example to pilot the fixed-wing drone 14. The joystick 16 comprises two grips 36, each being intended to be grasped by a respective hand of the user 12, a plurality of controls, here comprising two joysticks 38 (from the English joystick), each being disposed near a respective grip handle 36 and being intended to be actuated by the user 12, preferably by a thumb respective.
    The controller 16 also includes a radio antenna 34 and a radio transmitter and receiver, not shown, for the exchange of data by radio waves with the fixed-wing drone 14, both in uplink and in downlink.
    In addition, or as an alternative with regard to the display system 10, a digital multimedia tablet 70 with a touch screen is mounted on the controller 16 to assist the user 12 when piloting the fixed-wing drone 14.
    The joystick 16 is configured to transmit the piloting instructions 130 from the user to an automatic pilot integrated into the fixed-wing drone, an example of a diagram of functional blocks is shown in FIG. 3.
    Piloting a fixed-wing drone 14, in particular of the flying wing type, is quite difficult given its very great reactivity to the piloting instructions sent from the controller 16, and the need to maintain a minimum, higher flight speed. at stall speed.
    The autopilot, an example of a functional block diagram of which is shown in FIG. 3, allows the user to use simplified commands (ci3055078 after "piloting instructions" of the "turn right" or "turn" type. left "," climb >> or "descend", "accelerate >> or" slow down "these instructions being generated for example using the joysticks of the joystick 16. In the automatic pilot, for example illustrated by the FIG. 3, a decoder module, not shown, is configured to receive the control instructions 130.
    The decoder output is connected to the inputs of an angle setpoint calculation module 136, a speed setpoint calculation module 138, an altitude setpoint calculation module 140 forming the automatic pilot, respectively configured to convert the piloting instructions 130 of the user into attitude instructions of the drone, that is to say into angle of roll, instructions of pitch angle, speed instructions and instructions altitude, according to a model of the aerodynamic behavior of the drone in flight, previously determined and stored in memory.
    These modules 136, 138, 140 are configured to provide instructions intended to be compared, within appropriate regulation loops, with the data produced by the drone sensors (inertial unit 100, geolocation module 162, speed estimator 154 from data delivered by a Pitot probe 160, barometer 144, etc. which at any time assess the actual instantaneous attitude of the drone, its altitude and its air and / or ground speed).
    The regulation loops include in particular an attitude correction module 148, a speed correction module 150.
    The attitude correction module 148 is configured to supply, as a function of data supplied by an altitude correction module 142, correction data intended for use by a control surface control module 152.
    The control surface control module 152 is configured to provide appropriate controls for the control surface servomechanisms 160 for controlling the attitude of the drone.
    The speed correction correction module 150 is configured to supply, as a function of data supplied by the altitude correction module 142, correction data intended for use by a propulsion control module 156.
    The propulsion control module 156 is configured to provide appropriate commands from the propulsion system 158 for controlling the speed of the drone.
    The operation of the electronic video capture system 1 according to the invention will now be described with the aid of FIG. 4 illustrating a flow diagram of the video capture process, implemented by computer.
    The method of capturing a video according to the invention makes it possible to orient the axis of shooting of the camera and therefore the direction filmed by the drone regardless of the flight phase (ie the flight scenario) of the drone fixed-wing 14.
    When the image sensor (s) 28 is associated with a hypergone lens, it is possible to orient the axis of shooting of the camera with sufficient angular movement, in particular to take account of the attitude (defined by the triplet of pitch angles, roll and yaw) of the drone representative of the current flight scenario.
    In particular, the method of capturing a video according to the invention makes it possible to define a virtual image sensor (s) by selecting an area Zc of reduced dimensions compared to the real dimensions of the image sensor (s) 28.
    In FIG. 6, the images corresponding respectively to the overall field 200 of the camera obtained on the image sensor (s) 28, to the projection 300 of the image obtained by the objective associated with the image sensor, and in zone Zc, the position of which is determined according to the invention, are shown respectively.
    During a step 106, the image or images filmed during flight by the fixed-wing drone 14 are obtained.
    More specifically, the step of obtaining image (s) 106 comprises a step 108 of determining the position P Zc of the zone Zc of reduced dimensions compared to the real dimensions of the image sensor (s) 28 from the orientation of the shot mark obtained (110) as a function of the roll angle φ, the pitch angle Θ and / or the yaw angle ψ of the fixed-wing drone 14.
    In other words, the window corresponding to the zone Zc is dynamically moved in the field of the camera produced by the image sensor (s) (28).
    More specifically, the method of capturing a video according to the invention makes it possible to compensate for the changes in attitude of the drone relating to distinct flight phases, by selecting the window corresponding to the zone Zc, the zone Zc being a projection in a shot mark whose instantaneous orientation relative to a fixed land mark is calculated as a function of the roll angle φ, the pitch angle Θ and / or the yaw angle ψ defining the attitude fixed-wing drone 14.
    Different flight phases, represented in FIG. 5, and as many orientations of the associated sight mark according to the invention are described below and are implemented in isolation or according to all the technically possible combinations in accordance with the piloting instructions 130 of user 12.
    For example, when the drone is placed, which corresponds to the flight phase Pv 10 of FIG. 5, the orientation of the shot mark is equal to that of the drone. In other words, the shooting axis corresponds to the camera axis, namely the longitudinal axis 44 of the fixed-wing drone 14.
    During a Pv 9 phase of takeoff and / or landing of the fixed-wing drone 14, the orientation of the shot mark is equal to that of the attitude in pitch, yaw and roll of the drone filtered by a low pass filter.
    The cut-off frequency of a filter, associated with the Pv 9 phase of takeoff and / or landing of the fixed-wing drone 14, is for example of the order of 0.3 Hz in order to reduce the high source frequencies of oscillations during video playback to the user 12.
    When, during a flight phase Pv 3 , the drone flies according to a rectilinear trajectory and at constant altitude, the shooting reference point has a zero roll angle, a zero pitch angle and a yaw angle configured for orient the shooting in a fixed direction corresponding to the direction of the race of the drone at the end of the last turn made by the fixed-wing drone 14.
    When during a flight phase Pv 6 , the drone makes a turn, the shooting reference point has a roll angle corresponding to a roll instruction followed by the drone, a zero pitch angle, and an angle yaw equal to the yaw angle of the drone filtered by a low-pass filter.
    The roll angle of the shot mark, associated with the flight turn phase Pv 6 , is notably between -45 ° and + 45 °.
    When during a flight phase Pv 1; the drone performs an ascent or a descent according to a rectilinear trajectory, the shot mark has a zero roll angle, a pitch angle equal to a pitch instruction followed by the drone, and a yaw angle determined to orient the shooting in a fixed direction corresponding to the direction of travel of the drone at the end of the last turn made by the drone.
    The pitch angle of the shot frame associated with the Pv phase! ascent or descent along a straight path, is in particular between -30 ° and + 30 °.
    When during a flight phase Pv 8 , corresponding to the combination of the two previous flight phases Pv 6 and Pv 1; the drone performs an ascent or descent in a bend, the shot mark has a roll angle corresponding to a roll instruction followed by the drone, a pitch angle equal to a pitch instruction followed by the drone, and a yaw angle equal to the yaw angle of the drone filtered by a low-pass filter.
    The roll angle of the shot mark associated with the phase Pv 8 of ascent or descent in a bend is in particular between -45 ° and + 45 ° and the corresponding pitch angle is in particular between -30 ° and -t30 °.
    When during a flight phase Pv 4 , the drone flies according to a rectilinear trajectory and at constant altitude and initiates a turn, the shooting reference point has a roll angle equal to a roll instruction followed by the drone , a pitch angle of zero, and a yaw angle determined to orient the shooting in a fixed direction corresponding to the direction of travel of the drone at the end of the last turn made by the drone.
    The roll angle of the shot mark associated with the flight phase Pv 4 according to a rectilinear trajectory and at constant altitude with initiation of a turn, is in particular between -45 ° and + 45 °.
    When, during a flight phase Pv 2 , the drone performs an ascent or a descent following a rectilinear trajectory and initiates a turn, the shot mark has a roll angle equal to a roll instruction followed by the drone, a pitch angle equal to a pitch instruction followed by the drone, and a yaw angle determined to orient the shooting in a fixed direction corresponding to the direction of the race of the drone at the end of the last turn made by the drone.
    The roll angle of the shot mark associated with the Pv 2 phase of ascent or descent following a rectilinear trajectory with initiation of a turn, is in particular between -45 ° and + 45 ° and the angle corresponding pitch pitch is in particular between -30 ° and + 30 °.
    The orientation of the sight mark determined according to the invention in the case of the two “flight scenarios” Pv 4 and Pv 2 described above, makes it possible to prevent oscillations of the image at the start of a turn.
    When, during a flight phase Pv 5 , the drone flies according to a rectilinear trajectory and at constant altitude with a misalignment with respect to the target trajectory, the shot mark has a zero roll angle, an angle of zero pitch, and a yaw angle equal to the yaw angle of the drone filtered by a low-pass filter.
    When during a flight phase Pv 7 , the drone performs an ascent or a descent by following a rectilinear trajectory with a misalignment with respect to the target trajectory, the shooting reference point has a zero roll angle, a pitch angle equal to a pitch setpoint followed by the drone, and a yaw angle equal to the yaw angle of the drone filtered by a low-pass filter.
    The orientation of the sight mark determined according to the invention in the case of the two “flight scenarios” Pv 5 and Pv 7 previously described, makes it possible to manage the limits of image stabilization, avoiding that the axis of shooting does not follow the direction of travel of the drone when the yaw angle of the drone differs too widely from the yaw angle associated with the target trajectory.
    A correction step 90 shown in FIG. 5 also makes it possible to correct the yaw angle of the shot mark with regard to the yaw angle of the drone so that the difference between these two angles remains less, for example, 35 °.
    The cutoff frequency of the low-pass filter, associated with the following types of flight phase:
    - cornering flight Pv 6 ,
    - flight uphill or downhill in turn Pv 8 ,
    - flight along a straight path and at constant altitude with Pv 5 misalignment,
    - flight in ascent or descent according to a rectilinear trajectory with Pv 7 misalignment, is for example of the order of 0.5 Hz in order to smooth the movement and reduce the high frequencies sources of oscillations during the video restitution to the user 12.
    According to a variant, during the following types of flight phase:
    - flight according to a rectilinear trajectory and at constant altitude Pv 3 , with initiation of a turn Pv 4 , or with misalignment Pv 5 ,
    - cornering flight Pv 6 ,
    - ascent or descent flight along a straight path Pv n with initiation of a turn Pv 2 , or with misalignment Pv 7 , or
    - flight uphill or downhill in curve Pv 8 , a pitch angle entered by the user is also taken into account (for example by means of an addition) to modify the orientation of the shot mark .
    During the transition period between at least two shot mark orientations associated respectively with at least two distinct flight phases as previously described, the orientation of the shot mark during the transition period is obtained by application a spherical linear interpolation (SLERP from the English Spherical Linear Interpolation) 80 comprising at least one weighting by at least one weighting coefficient, the value of which changes progressively during the transition period.
    An example of optimized obtaining 80 of the transient orientation of the shot mark between two distinct flight phases is shown in FIG. 5, and makes it possible to obtain smoothing and video stabilization without jumping during the transition period. .
    In the diagram in Figure 5, the circles represent the spherical linear interpolation operations and the weighting coefficient associated with each of these operations. The solid arrows and the dotted arrows respectively represent the weight associated with each flight phase at the input of the linear interpolation operation once the progression (ie linear increase or decrease) in the value of the weighting coefficient is completed at the end of the transition period.
    The spherical linear interpolation operations materialized by the circles of FIG. 5 are implemented simultaneously or consecutively to obtain the transient orientation of the shot frame 80, and for some provide an intermediate flight state Ei.
    Different weighting coefficients, shown in FIG. 5, are described below and are implemented in isolation or according to all technically possible combinations.
    The weighting coefficient C1, called for example “roll stabilization coefficient” is in particular used for the transition between:
    the phase Pv 4 of ascent or descent according to a rectilinear trajectory and the phase Pv 2 of ascension or descent following a rectilinear trajectory with initiation of a turn, leading to an intermediate flight state Ei A , the phase of flight Pv 3 according to a rectilinear trajectory and at constant altitude and the phase Pv 4 of flight according to a rectilinear trajectory and at constant altitude with initiation of a turn, leading to an intermediate flight state Ei B , or even the flight phase Pv 5 according to a rectilinear trajectory and at constant altitude with a misalignment and the phase Pv 6 of flight turn, leading to an intermediate flight state Ei c the flight phase Pv 7 of ascent or descent by following a rectilinear trajectory with a misalignment and the phase Pv 8 of ascent or descent in turns, leading to an intermediate flight state Ei D.
    The value of this weighting coefficient C1 is equal to one in the absence of a request for a roll movement (i.e. a turn command) of the drone 14 by the user 12, and zero otherwise. The rise time of the value of the weighting coefficient C5 is, for example, of the order of 1.1 seconds.
    The weighting coefficient C2, called for example “pitch stabilization coefficient” is notably used for the transition between:
    the intermediate flight state Ei A and the intermediate flight state Ei B previously described, resulting in an intermediate flight state Eî e , the intermediate flight state Ei c and the intermediate flight state Ei D previously described, culminating in an intermediate flight state Ei F , or alternatively the phase Pv 6 of turning in flight and the phase Pv 8 of ascending or descending in turns, resulting in an intermediate flight state Ei G.
    The value of this weighting coefficient C2 is equal to one in the absence of a request for a pitching movement (ie an ascent or descent command of the drone) of the drone 14 by the user 12, and zero otherwise . The rise time of the value of the weighting coefficient C2 is, for example, of the order of 1.1 seconds. The value of the weighting coefficient C2 begins to decrease in the event of a request for a pitching movement of the drone 14 by the user 12 until it becomes zero, and to increase once the request for a pitching movement has been carried out.
    The weighting coefficient C3, called for example “alignment coefficient” is in particular used for the transition between the intermediate flight state Ei E and the intermediate flight state Ei F previously described, resulting in an intermediate flight state Ei H.
    The value of this weighting coefficient C3 is zero when the value of the yaw angle of the drone is too far from the value of the yaw angle associated with the direction of travel of the drone, or during a turn. The value of this weighting coefficient C3 is equal to 1 in the event of alignment or near alignment between the direction of travel of the drone and the attitude of the drone.
    The value of this weighting coefficient C3 begins to increase when, after a turn, the value of the yaw angle between the direction of travel of the drone and its attitude is less than a locking value, for example of the order of 25 °, and this over a predetermined locking period.
    The value of this weighting coefficient C3 decreases, until it becomes zero, when the value of the coefficient of cornering stabilization C4 discussed below decreases, or when the value of the yaw angle formed between the direction of travel of the drone and its attitude is greater than a value corresponding to an unlocking, for example of the order of 35 °.
    The lockout period is initialized to zero after the first turn and increases by 1.5 seconds each time you unlock it.
    The weighting coefficient C4, called for example “cornering stabilization coefficient”, is in particular used for the transition between:
    the intermediate flight state Ei H and the intermediate flight state Ei F previously described, resulting in an intermediate flight state Ei h or the intermediate flight state Ei, and the intermediate flight state Ei G previously described, resulting in an intermediate flight state Eij.
    The weighting coefficient C5, called for example “stabilization coefficient”, is in particular used for the transition between a phase Pv 9 of takeoff and / or landing of the fixed-wing drone 14 and the intermediate flight state Eij of flight stabilized previously described.
    The value of this weighting coefficient C5 is zero in the absence of stabilization and, for example, equal to one in the presence of stabilization. The rise time of the value of the weighting coefficient C5 is, for example, of the order of 1.1 seconds. The value of the weighting coefficient C5 begins to increase when the takeoff phase is complete and decreases when the drone initiates the landing phase until it becomes zero.
    The weighting coefficient C6, called for example “flight coefficient”, is in particular used for the transition between a phase of Pv 10 where the fixed-wing drone 14 is placed and a phase Pv 9 of takeoff and / or landing of the fixed-wing drone 14. When the fixed-wing drone 14 is placed, the value of the weighting coefficient C6 is zero while it is, for example, equal to one in Pv 9 phase of takeoff and / or landing.
    The rise time of the value of the weighting coefficient C6 is of the order of two seconds for example. The value of the weighting coefficient C6 begins to increase when a threshold speed on the ground is exceeded by the drone during the take-off phase, for example 6 ms 1 and decreases once the landing is completed.
    When the value of the flight coefficient C6 is zero, in other words when the fixed-wing drone 14 is installed, the value of all the weighting coefficients is also zero.
    The acceleration at the start and end of the transition period is processed by a smoothing operation, not shown, implemented once the spherical linear interpolation operations have been carried out.
    According to a particular embodiment represented in FIG. 4, the image acquisition step 108 comprises the acquisition 114 of image data from the whole of the image sensor (s), followed by digital processing. 116 of the image data delivering video images corresponding only to the zone Zc.
    In other words, according to this embodiment, the digital processing is carried out after the capture of the image data. Such digital processing makes it possible to shift the obtaining of rectified images to be returned to the user over time.
    According to another particular embodiment, the image acquisition step 108 comprises the acquisition 118 of image data only in the zone Zc during the production of the video, the position P Zc of the zone Zc being determined during the making of the video.
    In other words, according to this other embodiment, the selection of the zone Zc is implemented in real time and is slaved in real time to the orientation of the shot mark defined as a function of at least one attitude angle of the fixed-wing drone 14.
    The method of capturing a video according to the invention then makes it possible to optimize the piloting of the drone by slaving, from the position of the zone Zc to the orientation of the shot mark defined as a function of at least one attitude angle of the fixed-wing drone 14 so as to deliver in real time the images filmed by the drone on which the user 12 bases his piloting.
    The images obtained using the camera on board the fixed-wing drone 14 are restored in stabilized form, in particular via the use of the virtual reality display system 10.
    The method of capturing a video according to the invention consequently improves the ergonomics of immersive vision (also called "FPV vision" from the English First Person View).
    "User experience" in immersive piloting configuration therefore allows user 12 to optimize his piloting because the shooting is optimal whatever the flight phase of the drone.
    权利要求:
    Claims (16)
    [1" id="c-fr-0001]
    1 Method for capturing a video using an on-board camera on a fixed-wing drone (14), the camera comprising an image sensor (s) (28), the fixed-wing drone (14) comprising an inertial unit (56) configured to measure the roll angle, the pitch angle and / or the yaw angle of the fixed-wing drone, the method comprising obtaining (106) corresponding image (s) to an area of the sensor of reduced dimensions compared to those of the sensor and associated with a shot mark, the position of the area being determined (108) from the orientation of the shot mark obtained (110) as a function of the roll angle, the pitch angle and / or the yaw angle of the fixed-wing drone.
    [2" id="c-fr-0002]
    2. - Method according to claim 1, wherein, when the drone (14) is placed (Pv 10 ), the orientation of the shot mark is equal to that of the drone.
    [3" id="c-fr-0003]
    3. - Method according to claim 1 or 2, wherein during a takeoff phase (Pv 9 ), the drone (14) and / or during a landing phase (Pv 9 ) of the drone ( 14), the orientation of the shot mark is equal to the attitude of the drone (14) filtered by a low-pass filter.
    [4" id="c-fr-0004]
    4. Method according to any one of the preceding claims, in which, when the drone (14) flies according to a rectilinear trajectory and at constant altitude (Pv 3 ), the shot mark has a zero roll angle, an angle of zero pitch and a yaw angle configured to orient the shooting in a fixed direction corresponding to the direction of travel of the drone at the end of the last turn made by the drone (14).
    [5" id="c-fr-0005]
    5. - Method according to any one of the preceding claims, in which, when the drone (14) makes a turn (Pv 6 ), the shot mark has a roll angle corresponding to a roll instruction followed by the drone, a zero pitch angle, and a yaw angle equal to the yaw angle of the drone (14) filtered by a low-pass filter.
    [6" id="c-fr-0006]
    6. - Method according to any one of the preceding claims, in which, when the drone makes an ascent or a descent according to a rectilinear trajectory (Pv,), the shooting reference point has a zero roll angle, an pitch equal to a pitch instruction followed by the drone, and a yaw angle determined to orient the shooting in a fixed direction corresponding to the direction of the race of the drone at the end of the last turn made by the drone (14) .
    [7" id="c-fr-0007]
    7. - Method according to any one of the preceding claims, in which, when the drone (14) ascends or descends in a bend (Pv 8 ), the shot mark has a roll angle corresponding to a set point. roll followed by the drone, a pitch angle equal to a pitch setpoint followed by the drone, and a yaw angle equal to the yaw angle of the drone filtered by a low-pass filter.
    [8" id="c-fr-0008]
    8. - Method according to any one of the preceding claims, in which, when the drone (14) flies according to a rectilinear trajectory and at constant altitude and initiates a turn (Pv 4 ), the shooting reference point has an angle of roll equal to a roll instruction followed by the drone, a zero pitch angle, and a yaw angle determined to orient the shooting in a fixed direction corresponding to the direction of the race of the drone at the end of the last turn made by the drone.
    [9" id="c-fr-0009]
    9. - Method according to any one of the preceding claims, in which, when the drone (14) performs an ascent or a descent following a rectilinear trajectory and initiates a turn (Pv 2 ), the shot mark has a roll angle equal to a roll instruction followed by the drone (14), a pitch angle equal to a pitch instruction followed by the drone (14), and a yaw angle determined to orient the shooting in one direction fixed corresponding to the direction of travel of the drone at the end of the last turn made by the drone (14).
    [10" id="c-fr-0010]
    10. - Method according to any one of the preceding claims, in which, when the drone flies according to a rectilinear trajectory and at constant altitude with a misalignment (Pv 5 ) relative to the target trajectory, the shooting reference point has a zero roll angle, zero pitch angle, and a yaw angle equal to the yaw angle of the drone (14) filtered by a low-pass filter.
    [11" id="c-fr-0011]
    11.The method as claimed in any one of the preceding claims, in which, when the drone ascends or descends by following a rectilinear trajectory with a misalignment (Pv 7 ) relative to the target trajectory, the shooting reference point has an angle zero roll, a pitch angle equal to a pitch setpoint followed by the drone (14), and a yaw angle equal to the yaw angle of the drone (14) filtered by a low-pass filter.
    [12" id="c-fr-0012]
    12, - Method according to any one of the preceding claims, in which during the transition period between at least two orientation marks of shooting associated with at least two flight phases respectively, the orientation of the
    5 shooting during the transition period is obtained by applying a spherical linear interpolation comprising at least one weighting by at least one weighting coefficient whose value changes progressively during the transition period.
    10
    [13" id="c-fr-0013]
    13.- Product computer program comprising software instructions for the implementation of a method according to any one of the preceding claims.
    [14" id="c-fr-0014]
    14, - Electronic video capture system (1) comprising a fixed-wing drone and an on-board camera on the drone, the camera comprising a sensor
    [15" id="c-fr-0015]
    15 image (s), the fixed-wing drone (14) comprising an inertial unit configured to measure the roll angle, the pitch angle and / or the yaw angle of the fixed-wing drone, characterized in that the electronic video capture system further comprises an obtaining module (62) configured to obtain at least one image corresponding to an area (Zc) of the sensor of reduced dimensions compared to those of the sensor and
    [16" id="c-fr-0016]
    20 associated with a shot mark, the obtaining module (62) being configured to determine the position (P Zc ) of the area from the orientation of the shot mark obtained as a function of the angle roll, pitch angle and / or yaw angle of the fixed-wing drone.
    2/6
    类似技术:
    公开号 | 公开日 | 专利标题
    EP2242552B1|2014-04-02|Method for piloting a rotary-wing drone with automatic hovering-flight stabilisation
    EP2613214B1|2017-08-02|Method for controlling a rotary-wing drone to operate photography by an on-board camera with minimisation of interfering movements
    EP3281871A1|2018-02-14|Method for capturing a video with a fixed-wing drone, related computer program and electronic system
    EP3078402B1|2017-10-04|System for piloting an fpv drone
    EP2497555B1|2013-08-28|Method for piloting a rotary-wing drone with multiple rotors with curved steering.
    EP3316068B1|2019-03-06|Autonomous system for collecting moving images by a drone with target tracking and upkeep of the target collection angle
    EP3282335A1|2018-02-14|Integrated control and command module for a flying drone
    EP2933775A1|2015-10-21|Rotary-wing drone provided with a video camera supplying stabilised image sequences
    EP3282334A1|2018-02-14|Fixed-wing drone, in particular of the flying-wing type, with assisted manual piloting and automatic piloting
    EP2831685A1|2015-02-04|Method for controlling a multi-rotor rotary-wing drone, with cross wind and accelerometer bias estimation and compensation
    EP3276591A1|2018-01-31|Drone with an obstacle avoiding system
    FR3031402A1|2016-07-08|METHOD OF AUTOMATICALLY CONTROLLING A ROTARY SAILING DRONE FOR OPERATING CAMERA MOVEMENTS BY AN EMBEDDED CAMERA
    EP3273317A1|2018-01-24|Autonomous system for taking moving images, comprising a drone and a ground station, and associated method
    EP3306428A1|2018-04-11|Autonomous system for collecting moving images by a drone with target tracking and upkeep of the target collection angle
    EP3273318B1|2021-07-14|Autonomous system for collecting moving images by a drone with target tracking and improved target positioning
    EP3264214A1|2018-01-03|Method for dynamic attitude conversion of a rotary-wing drone
    EP2963517A1|2016-01-06|A flight control system and method for a rotary wing aircraft, enabling it to maintain either track or heading depending on its forward speed
    FR3052885A1|2017-12-22|DRONE COMPRISING PORTABLE WINGS
    CA2895081A1|2015-08-24|Method and system for setting a rotary wing aircraft to hover flight in directional stability or heading mode based on its forward speed
    EP3281870A1|2018-02-14|Method for capturing a video by a drone, related computer program and electronic system for capturing a video
    EP3392728A1|2018-10-24|Method for piloting a rotary wing drone, related computer program, electronic apparatus and drone
    FR3057966A1|2018-04-27|DRONE PILOT IN A SPHERICAL MARK BY A GESTUELLE WITH SEVERAL SEGMENTS OF MEMBERS, STEERING METHOD AND ASSOCIATED COMPUTER PROGRAM
    CA2935753A1|2017-01-10|Automatic pilot system for aircraft and associated process
    FR3063911A1|2018-09-21|METHOD FOR OPTIMIZING THE FLIGHT INCLINATION OF A DRONE, ELECTRONIC DEVICE, ELECTRONIC APPARATUS AND DRONE THEREFOR
    同族专利:
    公开号 | 公开日
    EP3281871A1|2018-02-14|
    US20180048828A1|2018-02-15|
    CN107734289A|2018-02-23|
    FR3055078B1|2019-05-31|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US20160163206A1|2011-08-19|2016-06-09|Aerovironment Inc.|Deep Stall Aircraft Landing|
    EP2613213A1|2012-01-04|2013-07-10|Parrot|Intuitive piloting method of a drone by means of a remote control device|
    EP2933775A1|2014-04-16|2015-10-21|Parrot|Rotary-wing drone provided with a video camera supplying stabilised image sequences|
    EP3048789A1|2015-01-26|2016-07-27|Parrot|Drone provided with a video camera and means to compensate for the artefacts produced at the greatest roll angles|
    WO2010116370A1|2009-04-07|2010-10-14|Nextvision Stabilized Systems Ltd|Camera systems having multiple image sensors combined with a single axis mechanical gimbal|WO2020246970A1|2019-06-05|2020-12-10|Hewlett-Packard Development Company, L.P.|Structural measurement using a fixed pattern|
    CN110194109B|2019-06-28|2021-07-13|广州小鹏汽车科技有限公司|Method for displaying vehicle external image, image system and vehicle|
    CN112840286A|2020-05-22|2021-05-25|深圳市大疆创新科技有限公司|Flight assistance method and device, unmanned aerial vehicle, remote controller, display, unmanned aerial vehicle system, and storage medium|
    CN112173149A|2020-10-30|2021-01-05|南方电网数字电网研究院有限公司|Stability augmentation cradle head with edge computing capability, unmanned aerial vehicle and target identification method|
    法律状态:
    2017-06-19| PLFP| Fee payment|Year of fee payment: 2 |
    2018-02-16| PLSC| Search report ready|Effective date: 20180216 |
    2018-07-25| PLFP| Fee payment|Year of fee payment: 3 |
    2020-05-08| ST| Notification of lapse|Effective date: 20200406 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1657728A|FR3055078B1|2016-08-11|2016-08-11|IMAGE CAPTURE METHOD , COMPUTER PROGRAM, AND ELECTRONIC CAPTURE SYSTEM OF ASSOCIATED VIDEO|
    FR1657728|2016-08-11|FR1657728A| FR3055078B1|2016-08-11|2016-08-11|IMAGE CAPTURE METHOD , COMPUTER PROGRAM, AND ELECTRONIC CAPTURE SYSTEM OF ASSOCIATED VIDEO|
    CN201710670240.6A| CN107734289A|2016-08-11|2017-08-08|Method, related computer program and the electronic system for capturing video of capture images|
    US15/672,775| US20180048828A1|2016-08-11|2017-08-09|Method for capturing image, related computer program and electronic system for capturing a video|
    EP17185762.6A| EP3281871A1|2016-08-11|2017-08-10|Method for capturing a video with a fixed-wing drone, related computer program and electronic system|
    [返回顶部]