FR3082085A1 - METHOD FOR TRANSMITTING AT LEAST ONE SIGNAL TO A USER BY A DRONE, COMPUTER PROGRAM, RELATED ELECTRONIC TRANSMISSION DEVICE AND DRONE - Google Patents

Abstract

The invention relates to a method (50) of transmitting at least one signal to a user by a drone (2), the drone (2) being configured to carry at least one image capture system (s). ) comprising at least one image capture device (s) (24) and an orientation device (26) of the image capture device (s) (24) movable relative to a body (12) of the drone (2), According to the invention, the method comprises the transmission of a signal corresponding to at least one predetermined movement of the image capture device (s) (24) relative to the body (12) of the drone (2) , said at least one predetermined movement expressing a state of at least one component of the drone (2) distinct from the image capturing device (s) (24).

Description

Method for transmitting at least one signal to a user by a drone, computer program, electronic transmission device and associated drone

The present invention relates to a method of transmitting at least one signal to a user by a drone, the drone being configured to carry at least one image capture system (s) comprising at least one device for capturing image (s) and a device for orienting the image capture device (s) mobile relative to a body of the drone.

The invention also relates to a computer program comprising software instructions which, when executed by a computer, implement such a transmission method.

The invention also relates to an electronic transmission device suitable for implementing the above-mentioned transmission method.

The invention also relates to a drone comprising such an electronic transmission device.

The invention relates to the field of drones, that is to say flying motorized devices controlled remotely in particular using a control lever, in particular drones configured for capturing image (s) at means of an on-board image capturing system comprising at least one image capturing device and a device for orienting the movable image capturing device relative to a body of the drone.

The invention relates to drones configured for image capture (s) whether they are of fixed wing, in particular of the flying wing type, or that they are of rotary wing capable of moving in the air by means of at least one rotor actuated by at least one motor. The invention concerns both single-rotor rotary wing drones and multi-rotor drones, in particular quadcopters with four rotors.

It is known to implement a transmission of information from the drone to the user via a remote user equipment comprising a module for receiving the information transmitted by the drone by means of a communication link, for example wired or radioelectric. . Such user equipment corresponds, for example, to control equipment provided, for example, with a system for displaying the information transmitted.

However, in the event of the absence or deterioration of the communication link between the drone and this remote user equipment or else in the event of a malfunction of the user equipment, the user loses the drone's feedback, which at the very least complicates the piloting of the drone or even makes it temporarily unusable.

In addition, even if the quality of the communication link is optimal, when the remote user equipment has limited capacities for restoring information (s) emitted by the drone, for example a processing capacity of information and / or a limited display screen size, the user experience is also proportionally reduced.

One of the aims of the invention is therefore to propose a method of transmitting information transmitted by the drone to the user independent of the remote user equipment, making it possible to complete the method of transmitting information based on the using such remote intermediate equipment, and / or overcoming the drawbacks thereof, while enriching the user experience.

To this end, the subject of the invention is a method of transmitting at least one signal to a user by a drone, the drone being configured to carry at least one image capture system (s) comprising at least at least one image capture device (s) and a device for orienting the image capture device (s) mobile relative to a body of the drone, the method comprising the transmission of a signal corresponding to at least one predetermined movement of the image capturing device (s) relative to the body of the drone, said at least one predetermined movement expressing a state of at least one component of the drone distinct from the image capturing device (s).

With the transmission method according to the invention, it is the signal corresponding to the predetermined movement of the image capture device (s) which allows the user directly to take cognizance of the associated state of another component ( ie device or set of parts of the drone other than the image capture device (s)).

In other words, according to the present invention, the image capture device (s) (e.g. the camera) is capable of expressing by moving a state of a component of the drone from which it is distinct. It is therefore through the predetermined movement of the image capture device (s), such as a sign language, that the drone autonomously implements feedback to the user who has prior knowledge of the bijective association between each distinct predetermined movement of the image capture device (s) and each component state of the drone, other than the only image capture device (s).

Thus, by activating a predetermined movement of the image capture device (s), the drone is capable of directly informing the user (ie without the use of remote intermediate equipment between the drone and the user) on the state of at least one of its own components other than the image capturing device (s) itself.

According to other advantageous aspects of the invention, the transmission method comprises one or more of the following characteristics, taken in isolation or in any technically possible combination:

- Said at least one predetermined movement of the image capture device (s) can be activated in the static position of the drone, the static position of the drone corresponding to a position where the drone is stationary on a flat support;

- said at least one predetermined movement of the image capture device (s) can be activated outside of a calibration phase of the image capture device (s) and outside of an image capture phase ( s);

- Said at least one predetermined movement of the image capturing device (s) is implemented in response to a signal emitted by control equipment remote from the drone, the control equipment being suitable for being controlled by the user ;

- Said at least one predetermined movement of the image capture device (s) is implemented automatically after detection of the state of said at least one component of the drone with which said at least one predetermined movement is associated;

- Said at least one predetermined movement of the image capture device (s) can only be activated over a predetermined time window;

- the image capture device (s) is movable relative to the drone body, by rotation around at least two axes of orientation perpendicular to each other, and in which said at least one predetermined movement is distinct from a circular motion.

- Said at least one predetermined movement of the image capture device (s) has a trajectory comprising a plurality of curvilinear segments separating N successive stop positions of the image capture device (s), N being a predetermined whole number greater than or equal to three, at least two distinct curvilinear segments of said plurality having, with respect to each other, a opposite direction of travel;

- at least part of the trajectory, comprising at least two successive curvilinear segments, is repeated;

- The trajectory of said at least one predetermined movement of the image capture device (s) comprises a plurality of curvilinear trajectory segments separating N successive stop positions of the image capture device (s), N being an integer predetermined greater than or equal to three, at least one curvilinear segment of the trajectory of said plurality corresponding to a rotation along one of the two orientation axes at an angle of rotation less than or equal to 180 °;

- At least two distinct curvilinear segments of said plurality are respectively associated with two distinct speeds of movement;

- Said at least one predetermined movement of the image capture device (s) is combined simultaneously or alternatively with the activation of at least one other component of the drone.

The invention also relates to a computer program comprising software instructions which, when executed by a computer, implement a transmission method as defined above.

The invention also relates to an electronic transmission device suitable for implementing the above-mentioned transmission method, in which said electronic transmission device comprises a transmission module configured to transmit a signal corresponding to at least one predetermined movement of the communication device. image capture (s) relative to the body of the drone, said at least one predetermined movement expressing a state of at least one component of the drone distinct from the image capture device (s).

The invention also relates to a drone comprising an electronic transmission device, in which the electronic transmission device is as defined above.

These characteristics and advantages of the invention will appear more clearly 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 schematic representation of a drone at least one image capture system (s) comprising at least one image capture device (s) and an orientation device of the image capture device (s) movable relative to a body of the drone;

- Figure 2 is a schematic representation of an electronic transmission device according to the invention;

- Figure 3 is a flow diagram of a method of transmitting at least one signal to a user by a drone according to the invention;

- Figures 4 and 5 is a schematic representation of the breakdown of several examples of distinct predetermined movements implemented by the capture device according to the present invention.

In the following description, the terms "longitudinal >>," transverse >>, "horizontal >>," vertical >>, "top >>," bottom >>, "front", "rear", "right> > and "left" extend by reference to the usual aircraft reference shown in FIG. 1, and comprising a longitudinal axis X (or roll axis), horizontal and directed from rear to front, a transverse axis Y (or pitch axis), horizontal and directed from right to left, and a vertical axis Z (or yaw axis), vertical and directed from bottom to top.

In addition, the expression “substantially equal to” is understood to mean an equality relationship of plus or minus 10%, that is to say with a variation of at most 10%, more preferably as a equality relationship at plus or minus 5%, i.e. with a variation of at most 5%. Likewise, the expression "substantially vertical" is understood as a relation of parallelism at plus or minus 10 ° relative to the vertical axis Z, more preferably still as a relation of parallelism at plus or minus 5 °.

Subsequently, by movement of the image capturing device (s) is understood one or more automatic unitary displacement (s) (ie without user intervention for each displacement) of the capturing device of images forming an animation between two periods of immobility of the image capturing device (s), a period of immobility corresponding to the absence of movement of the image capturing device (s) over a period greater than a predetermined time threshold S _T. A movement is capable of comprising several movement phases separated by stop positions whose duration is less than the time threshold S _T.

The drone 2 illustrated in FIG. 1 is a rotary wing drone. Drone 2 could alternatively be a fixed-wing drone.

The drone 2 comprises at least one rotor (or propeller) 4 _A configured to ensure the vertical lift of the drone 2. The drone 2 comprises for example several rotors 4 _A , 4b, 4 _c , 4 _d . Such a drone is called a "multirotor". The drone 2 here comprises exactly four rotors 4 _A , 4 _B , 4 _C , 4 _D. Such a drone is called "quadrotor" or "quadricopter". The drone 2 could alternatively include a different number of rotor (s).

The drone 2 comprises at least one motor 6 for driving in rotation of each rotor. The drone 2 here comprises a motor 6 _A , 6 _B , 6 _C , 6 _D respectively associated with each rotor 4 _A , 4 _B , 4 _C , 4 _D. Each rotor 4 _A , 4 _B , 4 _C , 4 _D and the associated motor 6 _A , 6 _B , 6 _C , 6 _D respectively form a motorized rotor assembly 8 _A , 8 _B , 8 _C , 8 _D.

The drone 2 comprises a drone structure 10. Each rotor 4 _A , 4 _B , 4 _C , 4 _D is carried by the drone structure 10. More specifically here, each set of motorized rotor 8 _A , 8 _B , 8 _C , 8 _D is carried by the drone structure 10.

The drone 2 also includes on-board electronic equipment which is also carried by the drone structure 10, and which is not visible in the figures. The on-board electronic equipment includes for example a radiocommunication device, a satellite geolocation receiver and / or an inertial unit, which allow manual, assisted and / or automatic piloting of the drone.

According to a particular aspect, as described in application FR 1758270 in the name of the Applicant, the drone structure 10 is foldable. It can adopt an unfolded configuration as illustrated in FIG. 1, which is a flight configuration of the drone, and a folded configuration not shown, which is a transport configuration of the drone.

The drone structure 10 comprises a drone body 12 and foldable arms 14 _A , 14 _B , 14 _c , 14 _d . Each arm 14 _A , 14 _B , 14 _c , 14 _D is mounted so as to be able to rotate on the drone body 12 between an unfolded position (FIG. 1) and a folded position (not shown).

Each arm 14 _A , 14 _B , 14 _c , 14 _D passes from one position, among the unfolded position and the folded position, to the other by rotation of the arm 14 _A , 14 _B , 14 _C , 14 _D relative to the drone body 12 about an axis of rotation R.

As an option, the blades 16 _A , 16 _B , 16 _C , 16 _D of each rotor 4 _A , 4 _B , 4 _C , 4 _D are foldable to facilitate the transport of the drone 2 in the folded configuration.

The arms 14 _A , 14 _B , 14 _C , 14 _D are grouped into at least one group of arms 18, here two groups of arms 18, each group of arms 18 including several of the arms 14 _A , 14 _B , 14 _c , 14 _d of the drone structure 10, for example two arms, the arms 14 _A , 14 _B , 14 _C , 14 _D of each group of arms 18 being rotatably mounted on the drone body 12 around a single and unique axis of rotation R substantially vertical.

In the example illustrated, each group of arms 18 comprises one of the arms 14 _A 14 _B front and one of the arms 14 _c 14 _D rear.

The drone structure 10 comprises for example two groups of arms 18 arranged symmetrically with respect to a median longitudinal plane of the drone structure 10, the plane containing the longitudinal axis X and the vertical axis Y of the drone, both arm groups 18 being arranged laterally on one side of the drone 2.

The arms 14 _A , 14 _B , 14 _C , 14 _D of each group of arms 18 are mounted mobile in rotation on the drone body 12 by means of an articulation system 20 of the group of arms 18, common to all arms 14 _A , 14 _B , 14 _C , 14 _D of this group of arms 18.

The proximal end of each arm 14 _A , 14 _B , 14 _c , 14 _D is articulated on the drone body 12 by means of the articulation system 20 of the group of arms 18 to which this arm 14 _A , 14 _B belongs. , 14 _C , 14 _D.

Each group of arms 18 has its own respective articulation system 20 for the rotational mounting of the arms 14 _A , 14 _B , 14 _c , 14 _D of this group of arms 18 on the drone body 12. The articulation systems 20 of the different arm groups 18 are analogous.

Alternatively, the drone structure 10 is not collapsible.

Furthermore, the drone body 12 is configured for mounting a payload on the drone body 12. The payload is for example permanently mounted on the drone body 12. As a variant, the drone body 12 is fitted with a mounting device (not visible) allowing rapid mounting and dismounting of the payload. The mounting device is for example of the type by screwing a mounting ring or bayonet.

As illustrated in FIG. 1, the payload is for example an image capture system (s) 22 comprising an image capture device (s) 24, in particular a camera.

The image capture system (s) 22 here comprises an orientation device 26 (or gimbal, preferably stabilizer), making it possible to control the orientation of the image capture device (s ) 24 relative to the drone body 12.

The orientation device 26 here allows orientation by rotation around two axes of orientation which are perpendicular to each other, namely the longitudinal axis X and the transverse axis Y. As a variant, it allows orientation around three axes of perpendicular orientation between them, which are for example the longitudinal axis X, the transverse axis Y and the vertical axis Z.

The drone body 12 has a receiving space 28 for receiving the payload. The receiving space 28 is located at one end of the drone body 12 along the longitudinal axis X, here the front end of the drone body 12.

Optionally, and as illustrated in FIG. 1, the drone body 12 has two longitudinal extensions 30 projecting, laterally on either side of the reception space 56. The longitudinal extensions 30 extend here projecting forward.

Such longitudinal extensions 30 make it possible to protect and / or maintain the payload laterally, without hampering the field of vision of the image capture device (s) 24 when the payload is an image capture system (s) 22.

In the example of FIG. 2, the electronic transmission device 32 according to the present invention comprises an information processing unit 34, formed for example by a memory 36 and a processor 38, such as a processor CPU type (from the English Central Processing Unit), GPU type (from the English Graphies Processing Unit), or VPU type (from the English Vision Processing Unit), associated with the memory 36.

According to the present invention, the electronic transmission device 32 further comprises a transmission module 40 configured to transmit a signal corresponding to at least one predetermined movement of the image capture device (s) 24 relative to the body 12 of the drone 2, said at least one predetermined movement expressing a state of at least one component of the drone 2 distinct from the image capturing device (s) 24 as described below in relation to the examples of movement in FIGS. 4 and 5.

According to one example, the transmission module 40 according to the present invention comprises:

an acquisition and detection tool 42 configured to acquire in real time one or more states of components of the drone 2 expressible (s) by means of the present invention by a movement of the image capture device (s) 24 and to detect the triggering state or states of such a movement,

an adjustment tool 44 suitable for calculating the parameters of orientation setpoints to be transmitted by the transmission module 40 to the orientation device 26 of the image capture device (s) 24, such parameters corresponding to the axis of rotation, angle of rotation, direction of travel of the rotation, speed, time delay, etc.

- as an optional supplement (shown in dotted lines), a determination tool 46 suitable for determining and transmitting activation instructions for another component of the drone 2.

In optional addition, the information processing unit 34 includes a clock 48 suitable for being used for clocking different phases of the predetermined movement of the image capture device (s) 24, and / or making a predetermined movement activatable / inactive. as a function of a global state (ie a state of all the components of the drone) of the drone 2 depending on a predetermined time window linked for example to a calendar event (ie feast day, birthday, etc.).

In the example of FIG. 2, the electronic transmission device 32 is on board the drone 2. According to a first variant, the elements of the information processing unit 34 of the electronic transmission device 32, namely the memory 36 and processor 38 are specifically dedicated and used only for the implementation of the transmission method according to the present invention described below.

According to another variant, the memory 36 and the processor 38 are shared and used not only for the implementation of the method according to the present invention described below but also for the implementation of additional functionalities such as the implementation of '' a control process or a maintenance process not described.

Those skilled in the art will understand that the electronic transmission device 32 is not necessarily on board the drone 2 and that, as a variant, not shown, the electronic transmission device 32 is at least partially external to the drone 2. According to this as a variant, the electronic transmission device 32 is for example at least partially embedded in a remote user equipment for controlling the drone 2, for example control equipment (ie joystick) not shown, in particular when the control equipment is a smartphone. The adjustment tool 44 is for example disposed outside of the drone 2, and is separate from the drone 2, and is then typically embedded in the control equipment.

In another variant, the electronic transmission device 32 is totally, or even entirely, disposed outside of the drone 2. The whole of the electronic transmission device 32 is then distinct from the drone 2, and for example on board the control equipment, particularly when it is in the form of a computer or electronic tablet.

The control equipment, not shown, is known per se and makes it possible to pilot the drone 2. The control equipment is implemented via an ordiphone (from the English smartphone) or an electronic tablet, comprising a screen display, preferably touchscreen.

In the example of FIG. 1, the acquisition and detection tool 42, the adjustment tool 44, as well as an optional complement the determination tool 46, are each produced in the form of executable software. by the processor 38. The memory 36 of the information processing unit 34 is then able to store acquisition and detection software configured to acquire and detect the states of predetermined components of the drone 2, the state detection (s) trigger (s) causing the setting in motion of the capture device 24, an adjustment software configured to calculate the parameters of orientation setpoints to be transmitted by the transmission module 40 to the orientation device 26 of the capture device of image (s) 24, such parameters corresponding to the axis of rotation, the angle of rotation Θ, the direction of travel of the rotation, the speed, the time delay, etc. In optional addition, the memory 36 of the information processing unit 34 is capable of storing determination software configured to acquire the selection of a descent mode at improved maximum speed, and the determination software is configured to determine and transmit activation instructions for another component of the drone 2, such as its arms 14 _A , 14 _B , 14 _c , 14 _D , its rotors 4 _A , 4 _B , 4 _C , 4 _D , one or more indicator lights lights arranged on the body of the drone 12 or on the image capture device (s). The processor 38 is then able to execute the acquisition and detection software, the adjustment software, as well as an optional addition to the determination software.

In a variant not shown, the acquisition and detection tool 42, the adjustment tool 44, as well as an optional complement the determination tool 46, are each produced in the form of a programmable logic component, such as '' an FPGA (from the Field Programmable Gate Array), or in the form of a dedicated integrated circuit, such as an ASIC (from the Application Specific Integrated Circuit).

When the electronic transmission device 32 is produced in the form of one or more software, that is to say in the form of a computer program, it is furthermore capable of being recorded on a medium, not shown, readable by computer. The computer-readable medium is, for example, a medium capable of storing electronic instructions and of being coupled to a bus of a computer system. For example, the readable medium is an optical disc, a magneto-optical disc, a ROM memory, a RAM memory, any type of non-volatile memory (for example EPROM, EEPROM, FLASH, NVRAM), a magnetic card or an optical card. On the readable medium is then stored a computer program comprising software instructions.

The operation of the electronic transmission device 32 according to the invention will now be explained with reference to FIG. 3 showing a flow diagram of the method of transmission 50 of at least one signal to a user by the drone 3 according to the invention.

According to a particular aspect, such a transmission method according to the invention by setting in motion the image capture device (s) 24 is implemented in the static position of the drone 2, the static position of the corresponding drone, for example, at a position where the drone is stationary on a flat support.

In this static position, the drone does not move and is at "rest" with stable attitude angles.

According to a variant, a hovering position of the drone also allows the implementation of the method.

Furthermore, according to a particular aspect of the invention, such a transmission method according to the invention is implemented outside of a calibration phase of the image capture device (s) 24 and outside of a image capture phase. Thus the signal transmission method according to the invention based on a movement of the image capture device (s) 24 is implemented outside of the conventional periods when the capture device (s) moves to accomplish its primary function and trivial, namely image capture and calibration.

During a step 52 of the transmission method according to the present invention, the electronic transmission device 32 acquires information representative of the state of components of the drone, these components being different from the electronic transmission device 32, such as the battery of the drone, a communication port such as a USB port (from the Universal Serial Bus) not shown, the memory space dedicated specifically to the storage of data associated with the shooting, such as the image (s) / video (s) captured, the radiocommunication device capable of establishing a link with remote control equipment, the rotors 4 _A , 4 _B , 4 _C , 4 _D , etc.

If a predetermined movement triggering state is detected (YES), the triggering states being listed and stored in the memory 36, then the electronic transmission device 32 implements a step 54 of calculation of movement instructions to be transmitted to the device orientation 26 of the image capturing device (s) 24 in order to obtain the predetermined movement bijectively associated with the corresponding detected component state.

In particular, as described below in relation to FIGS. 4 and 5, such a state corresponds to the reception of a signal emitted by the remote control equipment of the drone, the control equipment being suitable for being controlled by the user. In response, to this state of the radio communication device of the drone 2 having received such a signal, a predetermined movement associated with the image capture device 24 is implemented.

For example, such a variant applies in particular to the case of a movement simulating an expectation of connection prior to the establishment of the connection between the drone 2 and the remote control equipment, where according to another example in the case of a festive movement, for example, responding to an event command from the control equipment, such a festive movement having a predetermined lifespan, its activation being possible only over a predetermined time window such as a day, a week, etc., for example to represent a feast day such as Christmas or a birthday, the predetermined time window being for example specified in internal software (from English Firmware) on the drone 2 or on the remote control equipment . The activation / inhibition of such an ephemeral movement, for example festive, is carried out after automatic verification of the belonging of the potential instant of implementation indicated by the clock 48 to the predetermined time window.

As an alternative and / or in addition, a predetermined movement triggering state is automatically detectable (ie internally of the drone without interaction with remote control equipment) such as a low battery state evaluated by comparison with one or more predetermined energy threshold (s) S _E , a rotor state, a connection state of a connection door, a reading state of a memory space dedicated to the storage of data associated with the image (s) / video (s) captured.

The step 54 of calculating movement instructions to be transmitted to the orientation device 26 of the image capture device (s) 24 to obtain the predetermined movement associated bijectively with the corresponding detected component state amounts to calculating parameters of the movement of the image capturing device (s) 24, such as the axis of rotation, the angle of rotation Θ, the direction of travel of the rotation, the speed, the time delay, etc.

Indeed, such a movement is particular and identifiable by the user by the fact that it is not a conventional movement, for example a circular movement (ie the realization of a complete revolution (ie 360 ° this rotation)) operated during a calibration phase of the image capture device (s) 24 as illustrated below in relation to FIGS. 4 and 5.

According to an optional aspect, when the predetermined movement of the image capture device (s) 24 is complex because it is combined simultaneously or alternately with the activation of at least one other component of the drone 2 distinct from the image capture device ( s) 24, in particular such as an indicator light, not shown, or the arms 14 _A , 14 _b , 14 _c , 14 _d or the rotors 4 _A , 4 _B , 4 _C , 4 _D , the transmission method 50 also includes an optional step 56 of determining the activation setpoint (s) to be transmitted to said at least one other component of the aforementioned drone 2.

Finally, according to a step 58, the calculated instruction (s) are transmitted respectively to the image capture device (s) 24 and, if necessary to the other component involved in the predetermined movement of feedback to the 'user.

Figures 4 and 5 illustrate different examples of predetermined movements associated with one or more particular state (s) of other component (s) of the drone 2 separate from the image capture device (s). ) 24 himself. All of these predetermined movements described by way of example (s) are reconfigurable.

A first h / h movement as illustrated in FIG. 4 is implemented prior to the first takeoff of the drone 2, and is therefore triggered in response to a takeoff command issued by the control equipment of the remote user of the drone 2.

Such a movement Mt is characterized by a predetermined duration t which is specific to it, for example of the order of 8 seconds and comprises several phases of movement, here for example six phases, separated by punctual stop positions and each associated with angles Θ of rotation, axes of rotation, directions S of rotation and speeds V of rotation of the image capture device (s) 24 movable relative to the body 12 of drone 2, by rotation around the two axes d 'orientation X and Y perpendicular to each other.

The animation of the image capture device (s) 24 obtained according to the h / h movement is complex because the predetermined movement of the image capture device (s) 24 is combined simultaneously or alternately with the activation of at minus another component of the drone, namely here the arms 14 _A , 14 _B , 14 _C , 14 _D and the rotors 4 _A , 4 _B , 4 _C , 4 _D.

The first phase of the movement M _n for example of a duration substantially equal to three seconds corresponds to the successive unfolding of each 14 _A , 14 _B , 14 _c , 14 _d .

The second phase of the movement M _n for example of a duration substantially equal to 1.5 seconds, corresponds to the setting in motion of the image capturing device (s) 24 from a starting position where the axis of sight of the image capture device (s) 24 corresponds substantially to the axis X by rotation around the axis X in the direction S clockwise H at an angle θι ₂ with a speed of rotation ₂ then a reverse displacement in the opposite direction, namely AH counterclockwise to return to the starting position.

The second phase of the h / h movement is followed by a third phase, for example of a duration substantially equal to 1.5 seconds, comprising a rotational movement around the axis X in the counterclockwise direction S AH at an angle θι ₃ with a speed of rotation Vî ₃ then a reverse movement in the opposite direction, namely counterclockwise AH to return to the starting position, with θι ₂ = θι ₃ = 90 ° and V, ₂ = Vî ₃

The third phase of the h / h movement is followed by a fourth successive activation phase of each rotor 4 _A , 4 _B , 4 _C , 4 _D , of a duration substantially equal to one second during which the movement of the capture device of image (s) 24 is timed.

The fourth phase of the h / h movement is followed by a fifth phase of rotation around the Y axis clockwise S at an angle ₅ = 90 ° with a rotation speed \ Λ ₅ the line of sight of the device of image capture (s) 24 then corresponding to the Z axis.

This fifth phase of the h / h movement is then followed by a sixth h / h phase of simultaneous activation of the rotors 4 _A , 4 _B , 4 _C , 4 _D until takeoff of the drone 2.

Thus, the predetermined movement h / h of the image capture device (s) has a trajectory comprising a plurality of curvilinear segments separating N _M i = 5 positions of successive stops of the image capture device (s), at at least two distinct curvilinear segments of said plurality having, with respect to each other, a direction S of opposite course.

A second movement M ₂ as illustrated in FIG. 4 is implemented prior to takeoff from the drone 2, to inform the user that the energy level of the battery is below a first predetermined threshold S _E1 of energy limiting the flight time of the drone 2. Such a movement M ₂ is therefore triggered both in response to a take-off command issued by the control equipment of the remote user of the drone and after internal detection of a level of battery below threshold S _E predetermined energy.

The first phase of the movement M ₂ , for example of a duration substantially equal to two seconds, corresponds to the setting in motion of the image capture device (s) 24 from a starting position, where the axis viewfinder of the image capture device (s) 24 forms an angle θ _{2 0} less than 90 ° in the counterclockwise direction of rotafon around the Y axis with the X axis in the XZ plane, by rotation around the axis Y clockwise H at an angle θ ₂ 1 = θ _{2 0} with a speed of rotation V ₂ so as to bring the aiming axis back along the X axis, then to reverse movement in the opposite direction , namely counterclockwise AH to return to the starting position.

The second phase of the movement M ₂ , for example of a duration substantially equal to two seconds, is similar to the first phase with an oscillation (ie back and forth) caused by a rotation with a speed of rotation V _{2 2} along Y to the exception is that the angle of rotation used for the clockwise rotation H is less than that used in the counterclockwise direction AH so that at the end of this second phase the aiming axis of the capture device image (s) 24 forms an angle of value greater than θ ₂ o in the counterclockwise direction of rotation around the Y axis with the X axis in the XZ plane.

The second phase is followed by a third oscillation phase, for example of a duration substantially equal to one second, of rotation about the X axis clockwise S at an angle θ _{2 3} with a rotation speed V _{2 3} > V ₂ _ ₂ then followed by a reverse movement in the opposite direction, namely counterclockwise AH of the same speed and the same angle. The third phase is suitable for being repeated, which corresponds to a reiteration of the trajectory back and forth corresponding to the repeated course of two successive curvilinear segments of the trajectory.

The third phase is followed by a fourth phase of discontinuous rotation (ie rotation including pause times) around the Y axis clockwise S at a total angle of θ _{2 4} = 90 ° with a rotation speed V _{2 4} the line of sight of the image capture device (s) 24 then corresponding to the X axis at the end of the fourth phase.

Then this fourth phase is followed by a fifth phase of simultaneous activation of the rotors 4 _A , 4 _B , 4 _C , 4 _D and then stopping the rotors.

Finally, the sixth phase corresponds to a repetition of the third phase of oscillation by rotation around the X axis followed by a seventh phase, not shown, of simultaneous activation of the rotors 4 _A , 4 _B , 4 _C , 4 _D until when the drone takes off 2.

Thus, the predetermined movement M ₂ of the image capture device (s) has a trajectory comprising a plurality of curvilinear segments separating N _M2 = 16 positions of successive stops of the image capture device (s), at least two curvilinear segments being respectively associated with two distinct speeds of movement.

A third movement M ₃ as illustrated in FIG. 4 is implemented once the radio communication link between the drone 2 and the remote control equipment is established. Such a movement is suitable for being activated after internal detection of the state of the radio module of the drone. Optionally, a drone 2 indicator light is active simultaneously throughout the duration of the implementation of this third movement M ₃ .

Such a movement M ₃ has a total duration of the order of two seconds and comprises three successive phases, namely a first phase of setting in motion the image capture device (s) 24 from a starting position where the line of sight of the image capture device (s) 24 corresponds substantially to the X axis, by rotation about the Y axis in the counterclockwise direction S AH at an angle 0 ₃ substantially equal to

90 ° with a rotation speed V _{3 υ}

The second phase corresponds substantially to the rotation around the axis Y in the clockwise direction S at an angle θ _{3 2} substantially equal to 180 ° with a speed of rotation V _{3 2} > V _{3 ν}

The third phase corresponds substantially to the rotation around the Y axis in the counterclockwise direction S AH at an angle 0 _{3 3} substantially equal to 90 ° with a speed of rotation V _{3 3} > V _{3 2} to return to the starting position .

Thus, the predetermined movement M ₃ of the image capture device (s) has a trajectory comprising a plurality of curvilinear segments separating N _M 3 = 3 positions of successive stops of the image capture device (s), at least a curvilinear segment of trajectory of said plurality corresponding to a rotation along one of the two axes of orientation according to a rotation angle less than or equal to 180 °.

The conventional circular movement where the image capture device (s) 24 performs a full revolution is preferably avoided in order to avoid any confusion for the user with a conventional calibration phase.

A fourth movement M ₄ as illustrated in FIG. 4 is implemented when the USB port is connected. Such a fourth movement M ₄ is suitable for being activated after internal detection of the occupied state of the USB port of the drone 2. Optionally, an indicator light of the drone 2 is active simultaneously throughout the duration of implementation of this third movement M ₄ .

Such a movement M ₄ has a total duration of the order of four seconds and comprises three successive phases, namely a first phase of setting in motion the image capture device (s) 24 from a starting position where the viewing axis of the image capture device (s) 24 corresponds substantially to the X axis, by rotation of a duration of 1.5 seconds around the Y axis in the S clockwise H direction at an angle θ ₄ d less than 90 ° with a rotation speed V _{4 υ}

The first phase is followed by a second oscillation phase, for example of a duration substantially equal to one second, of rotation about the X axis clockwise S at an angle θ _{4 2} with a rotation speed V _{4 2} > V ₄ then followed by a reverse movement in the opposite direction, namely counterclockwise AH of the same speed and the same angle.

The third phase corresponds to a rotation lasting 1.5 seconds around the Y axis in the counterclockwise direction S AH at an angle θ _{4 3} = θ ₄ 1 less than 90 ° with a rotation speed V ₄ of so come back to the starting position.

According to a particular aspect of this fourth movement M ₄ , the second and third phases overlap so that over the duration of overlap Ch the image capture device (s) 24 moves both in rotation along the axis X and along the Y axis.

A fifth movement M ₅ as illustrated in FIG. 5 is implemented in the event of transfer of the stored data relating to the capture of image (s) stored in a memory space of the dedicated drone 2, the memory space being distinct of the image capture device (s) 24. Such a fifth movement M ₅ is suitable for being activated after internal detection of the occupied state of the USB port of the drone 2 and of the state of data transfer from space. dedicated drone 2 memory to an external device, not shown, connected to drone 2 via the USB port.

Such a movement M ₅ has a variable duration proportional to the amount of data to be transferred and comprises for example three phases of movement of the image capture device (s) 24 alternating with two phases of activation of a light indicator not shown .

For example, such an indicator light consists of four identical indicator lights, aligned for example on the upper face along Z of the body 12 of drone 2, and activated successively so as to restore a luminous movement along the X axis or in the direction opposite.

During the first phase of the movement M ₅ , the arms 14 _A , 14 _B , 14 _c , 14 _D having been folded beforehand, from a starting position where the line of sight of the image capture device (s) 24 corresponds substantially to the X axis, the image capture device (s) 24 moves by rotation for a duration of 1.5 seconds around the Y axis in the S clockwise H direction according to a angle θ ₅ , less than 90 ° with a rotation speed V ₅ _ ₁ .

The first phase is followed by a second phase of activation of the indicator light consisting of four identical indicator lights aligned above for a duration substantially equal to 1 second.

Once the last of the four indicators goes out, the third phase of the movement M ₅ is operated and corresponds to an oscillation of the image capture device (s) 24 for example of a duration substantially equal to 0.5 seconds , rotating around the axis X clockwise S at an angle θ _{5 3} with a speed of rotation V _{5 3} > V ₅ j then followed by a reverse movement in the opposite direction, namely counterclockwise AH likewise speed and same angle.

The second and third phases are repeated together, for example twice as shown in FIG. 5 or as many times as necessary, respecting the same alternation until the data transfer is completed.

Once the transfer is complete, the sixth phase corresponds to a rotation lasting 1.5 seconds around the Y axis in the counterclockwise direction S AH at an angle θ _{5 5} = θ ₅ , less than 90 ° with a speed of rotation V _{5 5 =} V ₅ so as to return to the starting position.

A sixth movement M ₆ as illustrated in FIG. 5 is implemented in the event of a low level of battery detected on landing not allowing any subsequent takeoff of the drone 2. Such a low level of battery is suitable for being detected automatically internally by the drone 2 because less than a second predetermined threshold S _E 2 of energy remaining in the battery such that S _E 2 <S _E i.

Such a movement M ₆ has a duration for example substantially equal to eight seconds and comprises four distinct movement phases implemented simultaneously with the activation of another indicator light, located under the body 12 of the drone 2, the indicator light being suitable for intermittent lighting regardless of the movement of the image capture device (s) 24. During the first phase of the movement M ₆ , from a starting position where the line of sight of the device of image capture (s) 24 corresponds substantially to the X axis, the image capture device (s) 24 moves by rotation for a duration of 1.5 seconds around the Y axis in the direction S clockwise H at an angle θ ₆ less than 90 ° with a speed of rotation Ve 1 The first phase is followed by a second phase of rotation lasting 1.5 seconds around the Y axis in the direction S clockwise H at an angle θ _{6 2} > θβ_ι strictly between 90 ° and 180 ° with a gear speed V _{6 2} to reach the end of the second phase at a position where the line of sight is collinear with the axis Z in an opposite direction.

Then during a third phase, the image capture device (s) 24 moves by oscillating by rotation around the axis X in the clockwise direction S at an angle θ ₆ 3 with a rotation speed V _{6 3} > V ₆ then followed by a reverse movement in the opposite direction, namely counterclockwise AH of the same speed and the same angle until returning to the above-mentioned end of second phase position.

Then during a fourth phase, the image capture device (s) 24 again moves in rotation around the axis Y in the direction S clockwise H at an angle θ ₆ 4 substantially equal to 90 °.

A seventh movement M ₇ as illustrated in FIG. 5 is implemented as long as the radio communication link between the drone 2 and the remote control equipment is not established. Optionally, as for the sixth movement described above, an indicator light, located under the body 12 of the drone 2, is active simultaneously throughout the duration of implementation of this seventh movement M ₇ .

The duration of such a seventh movement is representative of the duration of establishment of the radiocommunication link. Such a seventh movement to wait for the establishment of the communication link between the drone and the remote control equipment is suitable for preceding or understanding the third movement described above confirming the success of the establishment of the communication link.

Depending on the duration of such a seventh waiting movement, the first four following phases are repeated two by two, the first corresponding phase, from a starting position where the line of sight of the capture device d image (s) 24 corresponds substantially to the axis X, to a first rotation around the axis X in the direction S clockwise H at an angle θ ₇ 1 <90 ° with a rotation speed Vm.

The second phase corresponds to an oscillation of the image capture device (s) 24 for example of a duration substantially equal to 0.5 seconds, of rotation about the axis Y in the direction S clockwise H at an angle θ _{7 2} with a rotation speed V _{7 2} > V ₇ d then followed by a reverse movement in the opposite direction, namely counterclockwise AH of the same speed and the same angle.

The third phase corresponds to a second rotation around the X axis in the counterclockwise direction S at an angle θ _{7 3} = 90 ° with a rotation speed V ₃ = V ₇ , followed by a fourth phase identical to the second phase.

According to a particular aspect of this seventh movement M ₇ , the first and second phases overlap, as do the second and third phases, as well as the third and fourth phases, so that over the duration of overlap Ch the capture device image (s) 24 moves both in rotation along the X axis and along the Y axis as if it were bobbing.

According to a fifth phase, corresponding to the detection of the establishment of the connection between the drone and the remote control equipment, and as a variant of the third movement M ₃ , the image capture device (s) 24 returns in the starting position followed by a sixth phase where the image capturing device (s) 24 moves according to an oscillation corresponding to a rotation according to Y with an angle of 90 ° in a clockwise direction H followed by a rotation according to Y with an angle of 180 ° counterclockwise AH, followed by Y with an angle of 90 ° clockwise H.

Any other movement of the image capture device (s) 24 capable of expressing a state of at least one component of the drone other than the image capture device (s) 24 can be envisaged according to the invention, taking care that that such a movement is original by its set of parameters (speed of rotation, number of rotation (s), time delay, angle of rotation, speed of rotation, axis of rotation, etc.) compared to the conventional trivial movements of the device capture of image (s) 24 as described previously in relation to the seven examples of aforementioned movements.

For example, an eighth movement, distinct from the previous seven, is associated with the state corresponding to an internal software update in progress or to a state of deterioration of the rotor 4, or else to a festive state of the drone as a whole. for example during the holiday season.

It is thus understood that the electronic transmission device 32 and the transmission method 50 according to the invention make it possible to offer an additional signal transmission solution to the drone to inform the user.

This solution is based on a specific and predetermined movement (ie a "gesture" or even a "bodily" expression) of the image capture device (s) 24 then capable of signaling information relating to another component of the drone 2 than the image capture device (s) itself, thereby increasing the autonomy of the drone 2 vis-à-vis the remote control equipment and / or increasing at least the "user experience" which learns directly (ie without the use of an intermediate device between it and the drone) of certain component states or group of drone components. Each state is associated, bijectively, with a predetermined movement of its own image capture device (s). Such a predetermined movement has a specific path that can be identified with respect to the conventional movement (s) of the image capture device (s) 24 during the calibration or image capture phase.

Claims (15)

1. - Method for transmitting (50) at least one signal to a user by a drone (2), the drone (2) being configured to carry at least one image capture system (s) comprising at least one image capture device (s) (24) and an orientation device (26) of the image capture device (s) (24) movable relative to a body (12) of the drone (2 ), the method comprising the transmission (58) of a signal corresponding to at least one predetermined movement of the image capture device (s) (24) relative to the body (12) of the drone (2), said at least a predetermined movement expressing a state of at least one component of the drone (2) distinct from the image capturing device (s) (24). 2. - A transmission method according to claim 1, wherein said at least one predetermined movement of the image capture device (s) (24) can be activated in the static position of the drone (2), the static position of the drone corresponding to a position where the drone is stationary on a flat support. 3. - A transmission method according to claim 1 or 2, wherein said at least one predetermined movement of the image capture device (s) (24) can be activated outside of a calibration phase of the image capture device. image (s) (24) and outside of an image (s) capture phase. 4. - A transmission method according to any one of the preceding claims, wherein said at least one predetermined movement of the image capturing device (s) (24) is implemented in response to a signal emitted by an equipment of remote control of the drone, the control equipment being able to be piloted by the user. 5. - A transmission method according to any one of claims 1 to 3, wherein said at least one predetermined movement of the image capture device (s) is implemented automatically after detection (52) of the state of said at least one component of the drone with which said at least one predetermined movement is associated. 6. - A transmission method according to any one of the preceding claims, wherein said at least one predetermined movement of the image capture device (s) can only be activated over a predetermined time window. 7. - Transmission method according to any one of the preceding claims, in which the image capture device (s) (24) is movable relative to the body (12) of the drone (2), by rotation around at least two axes (X, Y) of orientation perpendicular to each other, and in which said at least one predetermined movement is distinct from a circular movement. 8. - A transmission method according to claim 7, wherein said at least one predetermined movement of the image capture device (s) has a trajectory comprising a plurality of curvilinear segments separating N successive stop positions of the image capture device. image (s), N being a predetermined integer greater than or equal to three, at least two distinct curvilinear segments of said plurality having, with respect to each other, a contrary direction of travel. 9. - A transmission method according to claim 8, in which at least part of the trajectory, comprising at least two successive curvilinear segments, is reiterated. 10. -Transmission method according to any one of claims 7 to 9, wherein the trajectory of said at least one predetermined movement of the image capture device (s) comprises a plurality of curvilinear trajectory segments separating N positions of successive stops of the image capture device (s), N being a predetermined whole number, greater than or equal to three, at least one curvilinear segment of trajectory of said plurality corresponding to a rotation along one of the two axes of orientation at an angle of rotation less than or equal to 180 °. 11. - A transmission method according to any one of claims 8 to 10, wherein at least two distinct curvilinear segments of said plurality are respectively associated with two distinct speeds of movement. 12. -Transmission method according to any one of the preceding claims, wherein said at least one predetermined movement of the image capture device (s) (24) is combined simultaneously or alternatively with the activation of at least one other component of the drone. 13. -Computer program comprising software instructions which, when executed by a computer, implement a method according to any one of claims 1 to 12. 14. - Electronic device for transmitting (32) at least one signal to a user by a drone (2), the drone (2) being configured to carry at least one image capture system (s) comprising at least one image capture device (s) (24) and an orientation device (26) of the image capture device (s) movable relative to a body (12) of the drone, characterized in that that said electronic transmission device comprises a transmission module (40) configured to transmit a signal corresponding to at least one predetermined movement of the image capture device (s) (24) relative to the body (12) of the drone (2 ), said at least one predetermined movement expressing a state of at least one component of the drone (2) distinct from the image capture device (s) (24). 15. -Drone (2) configured to carry at least one image capture system (s) comprising at least one image capture device (s) (24) and an orientation device (46) of the capture of image (s) (24) relative to the body (12) of drone (2), by rotation around at least two axes of orientation perpendicular to each other, characterized in that it further comprises device transmission (32) according to claim 14.