Classifications

• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
  • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
  • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
  • G01C21/3804—Creation or updating of map data
  • G01C21/3833—Creation or updating of map data characterised by the source of data
  • G01C21/3852—Data derived from aerial or satellite images
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
  • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
  • G01S19/13—Receivers
  • G01S19/14—Receivers specially adapted for specific applications
  • G01S19/15—Aircraft landing systems
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
  • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
  • G01S19/13—Receivers
  • G01S19/14—Receivers specially adapted for specific applications
  • G01S19/17—Emergency applications

Definitions

• the invention belongs to the field of positioning and control devices for rotary wing drones.
• the present invention more particularly relates to a device for positioning rotary wing drones, in an external environment, which can be integrated for example in a drone piloting system in a marine environment.
• the invention also relates to a method for positioning and steering, more particularly in the marine environment, of rotary wing drones such as quadricopters.
• the operators may not only respect the flight corridors and secondly lose time during navigation because they may have difficulty estimating the position of the target location or the position of the drone relative to the target location.
• For rescue applications of people in distress every second counts and it is necessary to arrive as quickly as possible to the person presumed in distress.
• Some solutions consist in proposing a display system representing a satellite view of the external environment on which is superimposed a representation of the position of the drone and the position of the target.
• These methods usually based on satellite photographs of highly urbanized areas, require many minutes for their configuration from a computer.
• the photographs on which they rest are fixed in time and are difficult to exploit because of the multitude of graphic elements present in the photograph to pollute it.
• Such devices do not meet the need for speed of reaching a target location as it can exist in a context of rescue.
• photographs are used in highly urbanized areas where the operator can quite easily position the drone in its environment, they do not therefore meet the need to estimate the position of the target location and its position of the drone relative to the target.
• a device for positioning and controlling a drone comprising a mapping module and a display module configured to selectively display a personalized map of the external environment. Said device thus allows the operator to quickly visualize and position the drone with respect to the environment and this even if the outside environment is clear and / or urbanized.
• the inventors have also developed a drone piloting system and an associated method allowing the operator to project easily into his particular marine environment and gain precious seconds to reach swimmers as soon as possible in distress.
• the invention relates to a device for positioning and controlling a rotary wing drone, in an external environment, comprising a display module and a communication module configured to communicate with the aircraft.
• a rotary wing drone said rotary wing drone comprising a communication module configured to communicate with the positioning and control device, and a geolocation module,
• the communication modules are configured to establish a connection between the rotary wing drone and the mapping module
• the geolocation module is configured to measure the GNSS coordinates of the rotary wing drone and send them to the mapping module, said mapping module is configured to:
• anchor points including pixel coordinates associated with said image file and corresponding GNSS coordinates associated with the external environment
• ⁇ calculating the positions on the graphical representation of at least two custom graphics associated with coordinated GNSS, said positions being based on GNSS coordinates custom graphics and pixel coordinates and GNSS anchor points,
• ⁇ calculating the position on the graphical representation of the rotary-wing UAV, said position being a function of the GNSS coordinates of the rotary-wing UAV and pixel coordinates and GNSS anchor points, and
• said display module is configured to then selectively enable to display a personalized map of the external environment, based on the information received from the mapping module, said personalized map comprising a graphical representation of the external environment, at least two elements custom graphics, a representation of the rotary wing drone.
• This positioning and control device allows an operator to better estimate the position of the drone in its environment.
• the custom graphics elements can serve as reference elements to position the drone but also to position a target location he wishes to join the drone.
• the graphic representation is not a photograph (aerial, terrestrial or satellite) but a representation of reality, such as a drawing, a vectorized image or a modeling, allows the operator to take advantage of 'a simplified representation compared to the reality which also allows him to better estimate the position of the drone in its environment. This better estimate of the position of the drone will allow the operator, during the implementation of this system to gain seconds that will be valuable for rescue applications for example.
• the device is not a photograph (aerial, terrestrial or satellite) but a representation of reality, such as a drawing, a vectorized image or a modeling, allows the operator to take advantage of 'a simplified representation compared to the reality which also allows him to better estimate the position of the drone in its environment. This better estimate of the position of the drone will allow the operator, during the implementation of this system to
• the personalized graphic elements are associated with GNSS coordinates corresponding to objects present in the external environment in order to facilitate for the operator the correspondence between a visualization on the screen and a visualization in the environment. This allows a very significant time saving on the positioning of the drone in the environment.
• the personalized graphic elements can be selected from: a buoy, a dangerous zone such as a ba ⁇ ne, a rock, a tree, a sandbank, a temporary corridor of passage, a flag, a preferably wooden building like a watchtower, the top of a dune and a path.
• a buoy a dangerous zone such as a ba ⁇ ne, a rock, a tree, a sandbank, a temporary corridor of passage, a flag, a preferably wooden building like a watchtower, the top of a dune and a path.
• the custom map includes at least four custom graphic elements.
• the display module is configured such that the representation dimensions of the rotary wing drone on the graphical representation are correlated to the altitude of the rotary wing drone. This allows the operator to have faster information on the height of the drone
• the graphic representation of said external environment is not entirely geolocated. Unlike most geolocation systems, the graphical representation is not entirely geo-localized, which lighten the system and speed up its operation.
• the device further comprises a location module, and the display module further comprises a touch surface, said location module being configured for i) identifying a touch point on the touch surface, said contact point being characterized by pixel coordinates, and ii) calculating the GNSS coordinates associated with the contact point from its pixel coordinates as well as associated pixel and GNSS coordinates anchor points and / or custom graphics. This method of locating by contact with the screen makes it possible to quickly position an additional element on the personalized map.
• the device further comprises a tide module configured to calculate the GNSS coordinates and pixel coordinates of at least one waterfront position in said outdoor environment at a time t, from water level data and or tidal coefficients in said external environment at a time fc.
• the calculated pixel coordinates of this or these waterfront positions may be transferred to the display module and then used by the display module to represent the waterfront in the custom map of the external environment.
• the calculated GNSS coordinates of this or these waterfront positions can be transferred to a route module and then used by the route planner to calculate the shortest route to a target location.
• This tidal calculation module has the advantage of allowing the calculation of the position of a water front at any moment. In coastal environments, such a module coupled to the custom map allows the operator to have a representation of reality through the display module of the positioning and control device of the drone. It can thus better estimate the position of the drone and / or a target location within the external environment.
• the device further comprises a video module configured to process a video signal from one or more cameras (s) carried by the drone, said video module being configured to add, in superposition to a video stream, a graphical representation when both of the following conditions are met: the drone is located at an altitude of no more than 15 meters, and the camera the video stream films an area below the drone about an axis of about 90 ° to the ground or to a water zone. This feature ensures the operator a precise release of a possible object transported by the drone.
• the invention further relates to a rotary wing drone control system comprising i) a positioning and control device according to the invention, and ii) a rotary wing drone comprising a communication module configured to communicate with the positioning and control device, and a geolocation module, and allow control by said positioning and control device.
• the rotary wing drone comprises an attachment module and an on-board computer connected to the communication module, said onboard computer being configured to selectively actuate an attachment module.
• Said attachment module can hold various equipment intended to assist a person in difficulty such as: a buoy, a defibrillator, or a first aid kit.
• the rotary wing drone piloting system according to the invention is particularly advantageous in a context of rescue of people in coastal zone. Indeed, such a system will greatly benefit from type of attachment module capable of dropping a buoy for people presumed distressed.
• the invention also relates to a method for positioning a rotary wing drone, in an external environment, comprising:
• the loading, in the mapping module, of the pixel composition of an image file said image file comprising a graphic representation of said external environment, the association of at least two anchor points with said pixel composition of the image file, said anchor points comprising pixel coordinates associated with said image file and corresponding GNSS coordinates associated with the external environment,
• Such a method allows an operator to better estimate the position of the rotary wing drone in his environment and win seconds that will be valuable for rescue applications for example.
• the external environment is a marine or lake environment.
• the method further comprises a step of displaying a representation of a waterfront at a time ti positioned on the graphical representation of the external environment, according to the GNSS coordinates of at least one predicted position. or estimated from the water front at this moment ti. Most current systems are not dynamic and do not display at a time ti the predicted position of the waterfront at this time. the method further comprises a step of positioning a water front at a time t comprising:
• the calculation by the tide module of the GNSS coordinates and the pixel coordinates of at least one position of the water front in said external environment at a time fc said calculation taking into account the data relating to the water depths or tidal coefficients in said external environment at times t, t 1 and t 2 as well as the GNSS coordinates associated with the water lines at times t 1 and t 2 .
• identifying a point of contact on a touch surface of the display module said contact point being characterized by pixel coordinates, calculate the GNSS coordinates associated with the contact point from its pixel coordinates as well as the pixel and GNSS coordinates associated with the anchor points and / or the personalized graphic elements, said GNSS coordinates associated with the contact point corresponding to the estimated GNSS coordinates the target location, and
• the operator only has to make contact with a touch-sensitive surface of the display screen (e.g. with his finger or a stylus) in order to quickly position an additional element on the personalized map.
• a touch-sensitive surface of the display screen e.g. with his finger or a stylus
• the calculation of GNSS coordinates is done quickly and, in the case of a rescue operation, the operator can directly transmit them to other rescuers and thus gain valuable seconds for the operation.
• o calculating a navigation plan comprising:
• This step of the method according to the invention makes it possible to reduce the operations performed by the operator and to optimize the movement of the drone towards a target location.
• an urgent operation such as a rescue operation, it increases the speed of intervention.
• Figure 1 shows the photograph of a rotary wing drone that can be used in the context of the invention.
• FIGS. 2A and 2B show the composition diagrams of a rotary wing drone (A) and a positioning and control device (B) according to the invention.
• Figure 3 shows the diagram of a method of positioning and control according to the invention.
• Figure 4 shows the diagram of a step of positioning the waterfront according to the invention.
• Figure 5 shows the diagram of a step of positioning a target location on the custom map via a touch surface.
• FIG. 6 represents the diagram of a step of calculating a navigation plane according to the invention.
• Figure 7 shows the personalized map of an outdoor environment according to the invention.
• FIG. 8 represents the diagram of a method of creating a personalized map of an external environment according to the invention.
• rotary wing drone a flying device without a pilot on board, the lift is provided by at least one rotor driven by a motor.
• a helicopter is equipped with a main rotor ensuring its levitation and propulsion and a second tail rotor.
• a quadricopter is equipped with four rotors driven by their respective engines.
• external environment is meant an exterior place in opposition to the interior of a building.
• the invention finds application in outdoor environments with few referenced landmarks such as poorly urbanized places such as mountain environments, plains or forests or marine environments and especially coastal areas.
• graphic representation of the external environment is meant a drawing or diagram of the external environment in which the drone is brought to evolve.
• the term graphic representation is used in opposition to aerial photographs or satellite photographs.
• the graphic representation is not a real image but a representation of reality.
• This graphic representation may for example be a drawing, a diagram or an image representing the external environment where the drone must be operated.
• the graphical representations according to the invention can be made by different drawing software such as Photoshop, Inkscape, Gimp, Paintshop Pro.
• the graphic representation can also be a three-dimensional modeling of the external environment or a photo transformed so as to simplify it for example.
• the graphic representation can be recorded in all the formats corresponding to the images, for example: jpeg, png, tiff, bmp.
• the expression "selectively display a map" within the meaning of the invention means that the display module is configured to display a map but that the operator can choose to display this map or other information on a module. display such as a video stream. The operator can choose to display the personalized map or the graphical representation and to associate it with other information, for example in superposition (eg for graphical elements or data relating to the drone) or in parallel via a sharing of the display surface (eg for the video stream).
• target location means a location of interest, for example the position in the external environment that the operator wishes to be reached by the rotary wing drone.
• the term “danger zone” means a location, within the external environment, considered by lifeguards to be associated with a greater risk of accident or greater mortality than the other locations of the outdoor environment.
• associated with greater risk is meant to be related to a majority of accident cases or associated with the area with the greatest number of accident or death cases.
• ba ⁇ ne also called tarpaulin, beach furrow and pre-coastal furrow, is meant in the sense of the invention a bowl formed in coastal zone, visible at low tide and up to 100 meters wide and 4 to 5 meters deep.
• a ba ⁇ ne causes the presence in the coastal zone of strong currents that can lead to the bathers off.
• pixel coordinates is meant the position of a pixel in an image as defined by an image file. This position is generally related to the pixel composition of the image file, i.e. to the resolution of the image, and to the position of said pixel by relative to other pixels in height and width of the image.
• the pixel coordinates define a position in an image and thus for example the position of a graphic element in a graphical representation.
• GNSS coordinates is meant the geolocation coordinates, expressed in latitude and longitude.
• the Global Navigation Satellite System (GNSS) coordinates may also include height values that are not used in the context of the GNSS coordinate coordinates conversions according to the invention.
• marine environment in the sense of the invention an external environment comprising a sea or an ocean.
• marine environments according to the invention include coastal areas and open sea areas whether or not close to human facilities (e.g. oil platforms, cruise ships).
• water front is meant in the sense of the invention the demarcation between the land (the shore) and a water zone, the water zone may be for example a sea, an ocean or a big lake.
• the demarcation between the land and the water zone may change over time, for example either frequently in the presence of waves or on a longer scale in the presence of tides.
• the waterfront corresponds to the average demarcation for example over 5 minutes between the land and the water zone.
• the invention relates to a positioning and control device 2 of a rotary wing drone 1, in an external environment.
• Figure 1 shows a rotary wing drone 1 that can be used in the context of the invention.
• the rotary wing drone 1 comprises a communication module 10, a geolocation module 15 and at least one rotor 13 driven by a motor 12.
• the communication module 10 is configured to communicate with the positioning device 2.
• the communication can be done via radio waves and a two-way transmitter / receiver.
• the two communication modules 10 and 20 communicate according to at least two different radio frequencies chosen over a frequency range from 2 to 6 GHz.
• the geolocation module 15 is able to measure GNSS coordinates and configured to send the GNSS coordinates of the rotary wing drone 1 to the positioning device 2 via the communication module 10.
• the rotary wing drone used in the context of FIG. the invention comprises a satellite positioning system type device also called GNSS radio (Global Navigation Satellite System). This GNSS radio can for example be based on GPS, GLONASS, Galilelo, Compass, IRNSS, and / or QZSS systems.
• GNSS radio Global Navigation Satellite System
• the geolocation module according to the innovation is based on at least one GNSS radio system selected from: GPS, GLONASS, Galilelo and Compass. More preferably, the geolocation module according to the innovation is based on at least two GNSS radio systems selected from: GPS, GLONASS, Galilelo and Compass.
• This drone comprises at least one rotor 13 driven by a controllable motor 12 to control the rotary wing drone 1 in attitude and speed.
• the motor (s) 12 are controlled by a flight controller 1 1 thus allowing steering of the rotary wing drone 1.
• the flight controller 1 1 can be configured to communicate with a navigation module 21 via the communication modules 10 and 20.
• the flight controller 1 1 is for example composed of an integrated circuit comprising a microprocessor and inputs / outputs. binding to external sensors (eg accelerometer, gyroscope, inertia unit, barometer) and to one or more batteries 14.
• the drone comprises at least two rotors 13 and even more preferably at least four rotors 13.
• the rotary wing drone 1 used in the context of the invention is preferably a tricopter or a quadrocopter.
• the rotary wing drone 1 also comprises one or more battery (s) 14.
• Figure 2 schematizes the composition of a rotary wing drone 1 used in the context of the invention (Figure 2A) and the positioning and control device 2 ( Figure 2B) according to the invention.
• the positioning and control device 2 comprises a communication module 20, a navigation module 21, and a display module 22.
• the communication module 20 is configured to communicate with the rotary wing drone 1 via the communication module 10 of the drone 1. As seen above, the communication module 20 exchanges with the drone via a radio type link.
• the navigation module 21 is configured to transmit to the flight controller 1 1 information relating to pitching, elevation, yaw and roll so as to control the movements of the rotary wing drone 1.
• the display module 22 may for example comprise a screen with an area of at least 40 cm 2 and a resolution preferably greater than 1024 * 768.
• the mapping module 25 being configured for:
• the image file format is selected from: jpeg, png, tiff, bmp.
• the image file must be composed of pixel. Indeed, those are the pixels that will be used to position personalized graphic elements 32 and the rotary wing drone 1 on the graphical representation of the environment 31.
• the mapping module 25 is able to identify the composition in pixels, that is to say the resolution of the image file used to represent the external environment.
• anchor points 33 Associating with said pixel composition of the image file at least two anchor points 33, said anchor points 33 comprising pixel coordinates associated with said image file and corresponding GNSS coordinates associated with the external environment,
• the mapping module is configured to link at least two anchor points 33 to the image file representing the external environment and more particularly to the pixel composition of the image file. This capability allows at least two points of the graphical representation 31 to be associated with GNSS coordinates.
• ⁇ calculating the positions on the graphical representation of at least two custom graphics elements 32 associated with coordinated GNSS, said positions being based on GNSS coordinates custom graphics elements 32 and pixel coordinates and GNSS anchor points 33,
• the mapping module is configured to calculate the pixel coordinates of the personalized graphic elements 32 as a function, on the one hand, of their GNSS coordinates and, on the other hand, pixel and GNSS coordinates of the anchoring points 33.
• ⁇ calculate the position on the graphical representation of the rotary wing drone 1, said position being a function of the GNSS coordinates of the drone to rotary wing 1 and the pixel and GNSS coordinates of the anchor points 33 and / or the personalized graphic elements 32, and
• the mapping module is configured to calculate the pixel coordinates of the rotary wing drone 1 as a function, on the one hand, of its GNSS coordinates and, on the other hand, of the pixel and GNSS coordinates of the anchor points 33 and / or the pixel and GNSS coordinates. personalized graphic elements 32.
• the mapping module is configured to transfer the calculated data to the display module 22 so that it displays the representations of the custom graphics elements 32 and the rotary wing drone 1 in superposition of the graphical representation 31 of the external environment.
• the display module 22 is configured to selectively display a personalized map 3 of the external environment.
• the display module 22 comprises means for selection by an operator of a personalized card 3, said display module 22 being configured to then selectively allow to display said personalized card 3 of the external environment.
• the personalized card 3 of the external environment comprises a graphical representation 31 of the external environment.
• the inventors have determined that the use of a personalized map 3 based on a satellite photograph gives less good results in terms of performance and speed of execution of the rescue procedure than graphic representations.
• the graphical representation 31 allows the operator to take control of the positioning and control device 2 more easily and to obtain improved performance in terms of piloting the drone 1 in its external environment.
• Satellite photos can be of insufficient resolution and, on the other hand, aerial photos or satellite photos contain many objects that pollute the vision of the operator.
• the use of a personalized card 3 according to the invention including a graphic representation 31 is very advantageous during rescue actions but also for other applications where it is necessary to quickly position a drone in its environment (rescue at sea or on land, objects deposit for example emergency medicines, diagnosis of damaged site ).
• the graphic representation 31 according to the invention is a pixelated image.
• the graphical representation 31 of the external environment according to the invention generally represents surfaces of between 100 m 2 and 15 km 2 , preferably surfaces of between 500 m 2 and 4 km 2. a controlled size map allows a faster execution.
• the graphical representation of the external environment can be saved via any type of image file.
• the graphical representation 31 may for example represent a view along an axis forming an angle of 90 ° with respect to the ground or, a view along an axis forming an angle less than 90 ° with respect to the ground, preferably less than 75 °.
• the display module 22 can also superimpose on the custom map 3 an adjustable grid scale with standardized dimensions for quickly visualize the actual distances between the different custom graphics elements.
• This scale scale gate can for example be set to display steps from 1 m to 100 m.
• the graphical representation 31 of the external environment includes at least two anchor points 33 associated with pixel coordinates and GNSS coordinates. These anchor points 33 are preferably located at the ends of the map. For example they may correspond to the first pixel (e.g. top left) and last pixel (bottom right).
• the graphical representation 31 is not entirely geo-localized. Indeed, a geolocation of all the points of the graphical representation could lead to a heaviness in the management of this image by the device.
• GNSS coordinates of latitude and longitude are taken into account.
• the graphical representation 31 can undergo transformations so as to further improve the handling by the operator. For example, the orientation of the representative map of the external environment can be modified. Once the orientation is changed, a heading datum will be associated with the map so that the control device is able to accurately recalculate the GNSS coordinates.
• the operator may need to zoom on the card or the display device may represent this card in different format / resolution.
• This information can be stored on the positioning and control device 3.
• the personalized card 3 of the external environment comprises personalized graphic elements 32 associated with GNSS coordinates. These personalized graphic elements 32 are positioned on the graphical representation 31 of the external environment according to their GNSS coordinates. In places with few reference points referenced it allows to add reference graphical elements to facilitate for the operator the correspondence between a visualization on the screen and a visualization in the environment. Indeed, in open environments, the perception of the depth can be distorted and the operator may have difficulty quickly direct the drone 1 to a target location.
• One of the objectives of the invention is to propose to the operator, for example a rescuer, to better visualize the position of a target, for example a potential victim in particular with respect to the rotary wing drone 1.
• the display module 22 is configured to display a personalized map 3 comprising personalized graphic elements 32.
• These personalized graphic elements 32 have preferably been configured by the operator and have been associated with corresponding GNSS coordinates. to objects present in the external environment.
• the personalized graphic elements 32 included in this personalized card 3 are linked to objects of the external environment which are not generally referenced during the establishment of geolocation maps. For example, in opposition to buildings made of stone, these objects have a position that can evolve fairly quickly. Nevertheless their presence in the personalized card 3 allows the operator to more easily establish a correspondence between what he sees via the display device and its external environment.
• the personalized graphic elements 32 comprise personalized graphic elements corresponding to objects selected from: a buoy 32a, a danger zone 32b such as a bain, a rock 32c, a shaft 32d, a temporary passageway 32e, a 32d sandbar, a 32f flag, a preferably wooden building such as a 32g mirador, the summit of a 32h dune and a 32i path. More preferably, the personalized graphic elements 32 comprise personalized graphic elements corresponding to objects selected from: a buoy 32a, a danger zone 32b such as a bain, a sandbank 32j, a rock 32c, a shaft 32d, a flag 32f and a path 32i.
• the personalized card 3 comprises at least four personalized graphic elements 32. More preferably, the personalized card 3 comprises at least eight personalized graphic elements 32. Even more preferably, the personalized card 3 comprises at least ten custom graphic elements 32.
• the personalized card 3 of the external environment comprises a representation 35 of the rotary wing drone 1, positioned on the graphical representation 31 of the external environment according to the GNSS coordinates of the rotary wing drone.
• the display module may be configured such that the altitude of the rotary wing drone 1 is correlated with the representation dimensions 35 of the drone to be transmitted. rotary wing 1 on the graphical representation 31.
• the higher the drone 1 evolves at a high altitude the larger the representation of the rotary wing drone 1.
• the transmission of data from the drone to the control device of the rotary wing drone can include metadata such as the date and time of the shots, the position GNSS, and the orientation of the nacelle to enable 3D modeling.
• the positioning and control device 2 may comprise other modules or means to enhance its advantages over the problems of the state of the art.
• the positioning and control device 2 may further comprise a location module 24.
• This location module 24 is configured to identify a contact point 23a on a touch surface 23 of the module. display 22.
• the location module is configured to identify the pixel coordinates of this contact point 23a on the touch surface 23.
• the location module 24 is able to calculate the GNSS coordinates associated with the contact point 23a from its pixel coordinates and the pixel and GNSS coordinates associated with the anchor points 33. It can also use the pixel and GNSS coordinates associated with custom graphics 32.
• the calculation is done at the time of contact and the location module does not have in memory the GNSS coordinates of all possible points of contact on the touch surface 23.
• the calculation can for example be made by considering that the external environment represented by the graphical representation 31 is flat, thus neglecting the hemisphericity of the planet. This greatly reduces the complexity and thus the computation time without having too great consequences on the accuracy.
• the location module 24 may advantageously display a position graphical element 34 at said point of contact on the touch surface. This graphic element can be modified by the operator.
• the positioning and control device 2 may further comprise a tide module 27.
• the tidal module 27 is configured to calculate the GNSS coordinates and the pixel coordinates of at least one position 37 of the water front in said external environment at a time t. This calculation is made from data relating to the water heights and / or the tidal coefficients in said external environment at a time t.
• the data relating to the water heights and / or tidal coefficients in said external environment can be downloaded and stored on the positioning and control device 2 of the rotary wing drone 1 or they can be stored on a remote device (eg a server) and be consulted punctually via a wifi connection or 3G / 4G for example.
• a remote device eg a server
• the calculation can be performed in several different ways that will be described in the description of the positioning step 200 of the waterfront.
• the pixel coordinates of the at least one position 37 of the water front can be transmitted to the display module 22 and then be used to represent the waterfront in the personalized map 3 of the external environment according to the invention.
• the invention relates to a device for positioning and controlling a rotary-car drone 1 characterized in that it comprises a tidal module 27 according to the invention.
• the control device according to the invention may also comprise:
• a route module 26 configured to establish a navigation plan as described in the following description of the invention
• a storage means 23 that can store, in particular, the personalized cards 3, a manual control module 29 configured to control the movement of the drone and possibly comprising at least two joysticks,
• a video module 28 configured to process the video signal coming from one or more cameras 14 carried by the drone 1.
• the video module 28 can for example transmit commands for moving the angle of the camera, add information superimposed to the video stream or stabilize the video stream through reprocessing.
• the invention relates to a rotary wing drone piloting system comprising a positioning and control device (2) according to the invention and a rotary wing drone 1 adapted to be controlled by said positioning device. and control 2.
• the rotary wing drone 1 according to the invention may have a weight of between 0.5 kg and 6 kg, preferably between 2 kg and 4 kg.
• the rotary wing drone 1 may advantageously comprise an attachment module 17 and an on-board computer 16 connected to the communication module 10 and configured to actuate the attachment module 17.
• the on-board computer 16 can control the different equipment installed on the drone and this independently of the flight controller 1 1.
• the attachment module 17 is able to carry loads of several kilograms, for example loads between 0.1 and 8 kg, preferably loads between 0.5 and 3 kg.
• the attachment module comprises an opening / closing system that can be controlled remotely, in particular from the positioning and control device 2 of the drone 1.
• This opening / closing system can be based on a repulsion of magnets and includes a mechanical lock thus preventing the servomotor from supporting the load.
• the consumption of the servomotor remains zero and therefore does not affect the autonomy of the battery (s) 14.
• the attachment module 17 may for example hold a buoy 18.
• the drone used in the context of the invention may also include one or more camera (s) managed by the video module 28.
• a camera may generate a video stream that will be transmitted in real time, by the intermediate communication modules 10 and 20, to the positioning and control device 2.
• a camera is preferably mounted on a mobile system allowing it to pivot along a vertical axis so as to provide a 360 ° view around the drone and this without the latter having to rotate.
• the mobile system allows a rotation of the camera along a horizontal axis, allowing it to film in line with the drone.
• the field of view of a camera is such that it can film a circle of at least 50 meters in diameter at 100m altitude.
• the camera mounted on the drone according to the invention preferably has a zoom of 4 times or more.
• the video module 28 can store the image data or video in the appropriate formats (Tiff, Jpeg, MP4, ).
• at least two cameras are installed on the rotary wing drone.
• the drone can be equipped with a conventional camera for filming in the visible, or a thermal camera.
• a thermal camera provided with an infrared sensor, for example a resolution preferably of at least 640 x 512 pixels for a range of 1 km of day and a camera in the visible that can have a high resolution type 4Kx30 or 1080px60 for a range of 2 km day.
• a single camera capable of filming in the visible and capturing thermal data can be used.
• the video module 28 is configured to add, in superposition to the video stream, a graphic representation of targeting when the two following conditions are met:
• the drone is situated at an altitude of not more than 15 meters, preferably not more than 10 meters, and
• the camera generating the video stream films an area located below the drone along an axis of approximately 90 ° (eg 90 ° plus or minus 15 °) with respect to the ground or the water zone, that is to say ie when the video stream acquired by the camera corresponds to approximately the plumb of the rotary wing drone.
• such a configuration of the module video 28 is particularly advantageous. Indeed, the operator will not have to check the altitude of the drone when it will position it above the target location, and the graphic representation of targeting will ensure the operator that the load will be well dropped to near the target location.
• the rotary wing drone according to the invention may include:
• a parachute preferably a non-pyrotechnic trigger parachute capable of being triggered by a command (preferably an independent dual control system) or in the event of defect of the drone;
• ultrasonic sensors and / or stereoscopic cameras integrated in an anti-collision module integrated in an anti-collision module
• a range finder and means for acquiring the altitude of the drone relative to the ground using the range finder
• the speed can be calculated with regard to the GNSS data but other systems can be embedded on the drone so as to calculate the speed of the drone,
• a watertight hull with flotation means since one of the applications of this system and the use of a drone in a marine environment, the latter may comprise flotation means and a watertight hull for protecting at least temporarily the drone in case of landing;
• the drone may include a flight stabilization module. This module can in particular identify the target and control the engines so that the drone maintains a distance and a given altitude relative to the person rescued.
• a voice module including a speaker and a microphone to communicate with people in the vicinity of the drone.
• FIG. 3 presents a method for positioning and controlling a rotary wing drone 1 that can be implemented with the positioning and control device 2 according to the invention.
• the invention relates to a method for positioning and controlling a rotary wing drone 1, in an external environment, preferably in a non-urban environment such as for example in marine environment, lake or plain, mountain, forests. More preferably, the invention relates to a method for positioning and controlling rotary wing drone 1, in a marine environment.
• the method 100 of positioning and control of a rotary wing drone 1 comprises the establishment 1 10 of a connection between a positioning and control device 2 and a rotary wing drone 1, as previously described.
• the method 100 further comprises a set of steps, which can be implemented by a mapping module 25 and allowing rapid mapping of the external environment.
• This set includes:
• anchor points 33 comprising pixel coordinates associated with said image file and corresponding GNSS coordinates associated with the external environment
• the method 100 includes the display 130 of a personalized card 3 of the external environment by the display module 22.
• This display 130 of a card Custom 3 of the outside environment can be broken down into several sub-steps:
• the display 131 of a graphical representation 31 of the external environment said graphical representation 31 of the external environment including at least two anchor points 33 associated with pixel coordinates and GNSS coordinates, the display 132 of the elements personalized graphics 32 associated with GNSS coordinates and positioned on the graphical representation 31 of the external environment in their GNSS coordinates, and
• the display 135 of a representation of the rotary wing drone positioned on the graphical representation 31 of the external environment as a function of the GNSS coordinates of the rotary wing drone 1 sent to the positioning device 2 via the communication module 10.
• the order of these substeps is not important and preferably, the latter executing very quickly (for example in less than 1 second, preferably in less than 0.5 seconds), the operator will probably not be able to distinguish the order of execution of these substeps.
• the method 100 may also comprise a display step 133, superimposed on the graphical representation 31, of an adjustable scale scale with standardized dimensions making it possible to quickly visualize the real distances separating the various personalized graphic elements.
• this scale scale grid can be configured for steps from 1m to 100m.
• the method 100 may also comprise a modification step 134 of the orientation of the graphical representation 31 and therefore of the personalized card 3. In fact, an operator may wish to represent the personalize card at an angle of not facing the North.
• the method 100 may also include a step of rotating the graphical representation 31.
• the method 100 may also comprise a verification step 1 1 1 of the state of the rotary wing drone.
• a verification step 1 1 1 of the state of the rotary wing drone For example, following the establishment of a connection between the drone 1 and the device 2, the latter transmits a module verification request. It comprises for example a check of the state of the battery (s) 14 as well as the operating status of the GNSS radio and the compass. If the parameters are validated, the control device will display via the display module a graphical representation 31 of the external environment and will add on top of said card personalized graphic elements 32, otherwise an error message will be displayed by the display module 22.
• the method 100 according to the invention further comprises a positioning step 200 of a water front at a time ti.
• the precise location of the water front makes it possible, on the one hand, to adapt the speed of the drone and its trajectory according to whether or not it is above water, and on the other hand it allows via a device display to represent the coastal area so as to facilitate the location by the operator of the rotary wing drone and / or a target location.
• FIG. 4 shows the example of a positioning step of the seafront based on a preliminary survey of the water line.
• the positioning step 200 of a water front comprises the following substeps:
• the loading 210 in a tidal module 27 of the positioning and control device 2, of data relating to the water heights and / or the tidal coefficients relating to the marine environment,
• the tidal coefficients and / or the water levels can be transferred to the tidal module 27 via a wireless connection such as a Bluetooth connection, wifi, 4G or any other mobile broadband data transmission protocol. These tidal coefficients and / or these water levels can also be stored on the device 2.
• These two steps can be repeated as shown in FIG. 4 so as to generate new data relating to t2. These steps can be repeated again, for example every day for a week so as to accumulate a large number of data representative of the water zone and thus improve the modeling of the waterfront.
• the piloting steps for overflight are carried out at the time of high tides or low tides.
• the calculation 240 by the tide module 27 of the GNSS coordinates and the pixel coordinates of at least one position 37 of the water front in said marine environment at a time ti said calculation taking into account the data relating to the water depths or the tidal coefficients in said external environment at times t 1, t 1 and t 2 as well as the GNSS coordinates associated with the water lines at times t 1 and t 2.
• the tide module then establishes from these points a modeling of the water line for example according to the tidal coefficient, the hours of high tide and low tide, and the position on the beach.
• This modeling makes it possible to know at any moment an estimated or predicted position of the water line on the environment. outside considered. There is therefore a prediction, via this modeling, of the position of the water front as a function of time.
• the step 200 of the method 100 may also comprise a display sub-step 250 by the display module 22 of a representation of the water front at a time fc, positioned on the graphical representation 31 of FIG. external environment according to the GNSS coordinates of at least one position 37 of the water front.
• This display can be made in superposition of the personalized card 3 for example to draw a blue area representing the body of water and separated from the ground by the waterfront.
• the operator and the drone control devices in general face the difficulty of positioning the waterfront. Indeed, in some environments the position of the waterfront can have a difference of several tens of meters depending on the low tide or high tide.
• the seafront is an extremely important marker for the operator in a method of positioning a target.
• the position of the waterfront can affect the steering of the drone.
• regulations can impose constraints above the ground that are not the same as above water.
• the invention relates to a method of positioning and controlling a rotary wing drone 1 characterized in that it comprises a step 200 of positioning a water front at a time t, according to the invention.
• a drone as a means of obtaining these coordinates. It is thus sufficient to position the drone in flight, above the object to be positioned as a personalized graphic element 31 in the personalized map. 3 and then loading the GNSS coordinates of the drone via the positioning and control device 2.
• the operator may position the drone top of positioning buoys then engage the acquisition of the GNSS position of the drone.
• the operator can position the drone above flags flanking the swimming area, or even position itself above a ba ⁇ ne and then engage the acquisition of the GNSS position of the drone.
• the invention relates to a method 100 further comprising a positioning step 300 of a target location 39 on the custom map 3 of the external environment.
• the positioning 300 comprises the steps of:
• - Identify 340 a contact point 23a on a touch surface 23 of the display module 22; said contact point 23a being characterized by pixel coordinates,
• the positioning 300 may also include the substeps:
• Another method for accurately positioning an object of the external environment is to use the heading data and distance of this object as measured for example by a compass, binoculars with compass or binoculars rangefinders.
• the heading and distance data are then used by the drone control device, in parallel with the location data of the operator to determine the GNSS position of the object to be integrated in the map of the external environment. .
• the method 100 may further comprise a positioning step 400 of a target location 39 on the personalized map 3 of the external environment from heading and distance data.
• the positioning 400 comprises the steps of:
• Calculation 430 the GNSS coordinates associated with the target object from its heading and distance data as well as reference GNSS coordinates.
• the positioning and control device 2 gives him the possibility to add or if necessary For example, once the map is displayed on the control device, the operator can launch a function for adding personalized graphic elements.
• the positioning steps and sub-steps described above can also be used as part of a step of positioning a target on the personalized map 3.
• the operator is able to quickly position his target on the custom map to quickly reach this target with the drone.
• the invention also relates to a method 100 comprising a step of setting 500 of a navigation route to shorten the time required to position a drone near a target.
• FIG. 6 An embodiment of this establishment step 500 of a navigation route is shown in FIG. 6.
• the invention relates to a method 100 further comprising a step 500 of establishing a navigation route from a starting location to the target location 39, said step 500 comprising: the reception 510, by a route module 26 of the positioning and control device 2, of the estimated GNSS coordinates of the target location 39,
• the establishment 540 of a navigation plan comprising:
• the localized target its GNSS and pixel coordinates are transmitted by the route module 26 to the navigation module 21 in charge of monitoring the drone during navigation.
• the entire route from the starting point to the target location is sent to drone 1.
• the path calculated by a route module makes it possible to shorten the duration of the journey as much as possible while respecting the safety instructions established on the zone considered.
• the facility 540 may comprise more than two steps and thus, several intermediate steps comprising no forbidden flight zone overflight.
• This step 500 includes the loading 520 by the route module 26 of the GNSS coordinates of at least one prohibited flight zone. Nevertheless, this step can be replaced by the loading of at least one authorized flight zone, which corresponds to an equivalent solution provided that the authorized zone does not cover the entire area related to the graphical representation 31.
• step 500 can comprise a GNSS coordinates sub-loading step 530 of at least one seafront position.
• the regulation stipulates forbidden overflight zones that change depending on the water line. For example, in France, from a location above the ground, until it reaches the water line, a rotary wing drone must evolve in a specific area away from holidaymakers.
• FIG. 7 shows an example of a personalized card 3 according to the invention dedicated to a coastal environment. It is based on the graphical representation 31, by an initially vector image having been transformed into a pixelated image, of two beaches comprising two bathing areas framed by flags 32f. The anchor points 33 are not visible to the operator.
• the map includes information 38 relating to the superimposed drone and at least one position of the water front 37.
• Figure 8 shows an example of a method for creating a personalized card according to the invention.
• the invention relates to a personalized card creation method 3, said method comprising the steps of:
• Addition 740 in overlay to the graphical representation 31 of personalized graphic elements 32, said addition comprising:
• the invention allows to have a personalized map 3 representative of the external environment in which the drone moves.
• one of the advantages of the invention is to allow an operator to follow on the personalized map 3 the navigation of the rotary wing drone.
• the position of the drone 1 on the personalized map 3 being updated for example with a time interval of less than 5 seconds, preferably less than 1 second.
• the method according to the invention may comprise an autopilot navigation step.
• the fact that the operator can rely on an automated navigation between the starting point and the target allows him to free up time to perform the other actions necessary for the rescue (e.g. contact a hospital).
• the autopilot module is configured so that the trajectories are a function of the navigation plane established by the route module 26 and that the speed is directly configured according to recorded preferences. previously in the route module 26. Nevertheless, the operator is able to control this speed from instructions addressed, for example by the manual control module 29, to the drone positioning and control device. From such instructions, the speed of the drone can be increased, reduced or the drone can even be instructed to return to a previous position and this without breaking the navigation plan established by the route module 26.
• advantage on the one hand power while retaining the benefits of automatic navigation and an optimized trajectory, either to accelerate, decelerate or even to go back if the operator has identity an object of interest to proximity of the drone (for example thanks to the video flow of the camera).
• the invention finds its application in the positioning and control of a drone in an outdoor environment.
• the devices, systems and associated methods according to the invention are particularly advantageous when the operator must send the drone as quickly as possible to a target location.
• the invention is particularly suitable for implementation in marine environment (ships, oil rigs) or in coastal zone (beaches). Nevertheless, the invention may be essential in some large lacustrine systems or in terrestrial environments that do not have a large number of visual reference structures (e.g. plain, forest, mountain).

Landscapes

• Engineering & Computer Science (AREA)
• Remote Sensing (AREA)
• Radar, Positioning & Navigation (AREA)
• Physics & Mathematics (AREA)
• General Physics & Mathematics (AREA)
• Computer Networks & Wireless Communication (AREA)
• Automation & Control Theory (AREA)
• Aviation & Aerospace Engineering (AREA)
• Position Fixing By Use Of Radio Waves (AREA)

Applications Claiming Priority (2)

Publications (1)

Family

ID=57539368

Family Applications (1)

Country Status (3)

Families Citing this family (1)

Family Cites Families (5)

• 2016
  • 2016-08-11 FR FR1657731A patent/FR3055051A1/fr not_active Withdrawn
• 2017
  • 2017-08-10 WO PCT/FR2017/052217 patent/WO2018029431A1/fr unknown
  • 2017-08-10 EP EP17765232.8A patent/EP3497479A1/de not_active Withdrawn

Also Published As

Similar Documents

Legal Events