WO2017207920A1

WO2017207920A1 - System for controlling the movement of remote-controlled vehicles

Info

Publication number: WO2017207920A1
Application number: PCT/FR2017/051353
Authority: WO
Inventors: Sébastien DUPRAT; Jérémy JEAN JEAN
Original assignee: Drobot X
Priority date: 2016-06-03
Filing date: 2017-05-31
Publication date: 2017-12-07
Also published as: FR3052084A1; FR3052084B1

Abstract

The invention sets out a system for controlling the movement of remote-controlled and/or pre-programmed vehicles in at least one movement space comprising a plurality of remote-controlled and/or pre-programmed vehicles each one associated with one item of remote control equipment, said system comprising means for the geographical location of each of said vehicles and a memory for recording flight parameters and a computer for controlling the propulsion motors according to processing that takes account on the one hand of the instructions transmitted by the associated remote-controlled equipment and, on the other hand, of the information recorded in said local memory. This system comprises a central unit provided with a means of acquiring geographical location data transmitted by said remote-controlled vehicles, a memory for recording laws describing the movements of the remote-controlled vehicles in said remote-controlled space, and a computer for periodically calculating the absolute and relative positions of each of said vehicles moving around in said movement space and calculating flight parameters for each of said vehicles, the central unit comprising means for periodically transmitting to each of said vehicles the flight parameters that are intended for that vehicle and for causing said flight parameters to be recorded in the local memory of said vehicle.

Description

System for the control of the evolution of remote-controlled machines

Field of the invention

The present invention relates to equipment for operating a plurality of remote controlled or programmed machines such as drones or land or air robots, for games, learning or training purposes.

The market for indoor sports and leisure activities has exploded and continues to grow with many new concepts of play parks.

In addition, the market for service robotics and more particularly drones is confronted with two problems: first, the handling requires learning and support, and secondly the piloting of drones outside is subject to strict legislation limiting the possibilities of use. Industry players, schools and telepilots are in demand of new uses for their products and services, their training and a place of emulation, meetings and exchanges.

The evolution of remote-controlled or programmed vehicles, particularly drones, in a public space, with pilots and / or spectators close to or even within the range of equipment whose mass and speed can cause damage and / or injury.

The invention finds application particularly in the field of radio-controlled drones that can be used in indoor environments such as a sports hall or a farm shed. For the purposes of this patent, the term "drone" means a flying machine controlled remotely by means of a control device. Some UAVs are said to have rotary wing, which includes all known models of helicopter models. The piloting of a drone is done from a radio control equipped with two mobile levers, where:

- For the first lever, a first axis controls the pitch of the drone (in one direction to advance and in the opposite direction to back) while a second axis controls the pivot of the drone (inclination of the lever in one direction for the left pivot and in the opposite direction for the right pivot);

- For the second lever, a first axis controls the power of the drone's engines (in one direction to increase this power and in the opposite direction to decrease it) while a second axis controls the roll (in one direction to advance crab on one side and in another direction to crab on the opposite side). The control of these commands is long and requires a significant training, with the possible risk of damaging the drone during this learning phase.

The control can also be controlled from a tablet including gyro sensors, to transmit information according to the orientation and movements of the tablet and the driver's interactions with a tactical screen or control buttons. Such a solution is described in the patent application WO2010061099 describing a device for controlling a drone consisting of a housing provided with a slope detector and a touch panel displaying a plurality of tactile zones. The drone is provided with an autonomous stabilization system hovering in the absence of any command from a user, this device comprises means, controlled by a touch zone forming an activation / deactivation button, to make alternatively toggle the piloting mode of the drone between (i) an activation mode of the autonomous stabilization system of the drone, in which the piloting commands transmitted to the drone result from the transformation of the signals emitted by the tactile zones, and (ii) a mode of deactivation of the autonomic stabilization system of the drone, in which mode the control commands transmitted to the drone result from the transformation of the signals emitted by the inclination detector of the housing. The evolution of these machines in enclosed spaces such as a hangar makes it possible to improve flight conditions by avoiding the effects of the wind, which is favorable for learning or for fun applications between several users. However, it is essential to secure the movements of drones to limit collisions with each other or with the infrastructure and to protect pilots and potential spectators.

By remote-controlled or programmed vehicles we mean drones or mobile robots

State of the art

We know for example a realization of "drone park" in Dunkerque in a brick building rehabilitated 300 square meters pilots on a bridge fly drones

Patent application WO 2008/056051 (Parrot) describes a display adjustment method for a video game system. The system described in this prior art document comprises a remotely controlled vehicle with a sensor of The vehicle attitude and an electronic entity comprising a display unit and for remotely controlling the vehicle on a circuit. The method comprises the following steps:

dynamic acquisition, through the sensor of the instantaneous attitude of the vehicle dynamic estimation of at least one inclination parameter of the circuit from the values of the instantaneous attitude delivered by the sensor adjustment of the display of the entity based on the estimated values of the inclination parameter (s) of the circuit.

Also known is the US Pat. No. 2,009,005,167 describing a gaming system using one or more mobile communication devices and one or more of the drones that can be controlled remotely. The system includes game control, game control and game rules that affect the operation of controllable remote drones.

Disadvantages of the Prior Art The solutions proposed in the prior art are not entirely satisfactory because they do not make it possible to ensure the safety of equipment, especially drones, spectators and pilots, particularly when a large number of machines operate in the same space, for example in a hangar.

Moreover, since each gear is independent, the risk of collision strongly depends on the skill of the pilot. Solution provided by the invention

The present invention aims to overcome these disadvantages by proposing a solution to ensure increased security of the evolution of multiple drones in a particular enclosed space.

To this end, the invention relates, according to its most general acceptance, to a system for controlling the evolution of remote-controlled or programmed vehicles in at least one evolution space comprising a plurality of remote-controlled or programmed vehicles each associated with a remote control equipment, said system comprising means of geolocation of each of said machines and a memory for the recording of flight parameters and a computer for controlling the displacement engines according to a processing taking into account on the one hand the instructions transmitted by the associated remote control equipment and secondly the information stored in said local memory, characterized in that said system comprises a central unit provided with means for acquiring the geolocation data transmitted by said remote-controlled machines , a memory for the registration of laws of evolution of the remote-controlled machines in said remotely controlled space and a calculator for periodically calculating the absolute and relative positions of each of said craft moving in said evolution space and calculating for each of said engines flight parameters, the central unit comprising means for transmitting periodically to each of said gear the flight parameters intended for it and to control the recording of said flight parameters in its local memory.

Preferably, the system comprises means for separating two evolution spaces, said means being made of an electrically conductive material for partially absorb electromagnetic waves and limit the propagation of electromagnetic signals from one space of evolution to another space of evolution.

According to a variant, said means for separating two evolution spaces are constituted by a metal net.

Advantageously, said memory comprises a data record representative of the geometric limits of each of said evolution spaces. Preferably, the system further comprises interaction devices between a spectator and said central unit which further comprises means for modifying the processing of the flight parameters as a function of the digital data transmitted by said interaction devices.

According to a first variant, said geolocation means comprise geolocation circuits integrated in each of said machines and means for periodic transmission of information provided by the geolocation circuits to the central unit.

According to a second variant, said geolocation means consist of fixed sensors for detecting gear installed in said evolution spaces. Preferably, said machines are equipped with bumpers.

According to a variant, the system further comprises motorized seats controlled by signals supplied by the central unit. Advantageously, the central unit also comprises a software connector for exchanging information with remote terminals via a computer network.

Detailed description of a non-limiting example of

The invention

The present invention will be better understood on reading the following description relating to a nonlimiting exemplary embodiment illustrated by the accompanying drawings in which: FIG. 1 represents a schematic view of

The invention

- Figure 2 shows a schematic view of a variant of the invention.

In the example illustrated in FIG. 1, the system comprises two cages delimited by metal nets (1, 2) supported by armatures (10, 20) for defining delimited spaces for the evolution of drones (11, 21, 22). ).

A central unit (30) has a radio frequency communication circuit with the drones (11, 21, 22) and the associated remote control systems.

The central unit contains in a non-volatile memory the digital map data record of the evolution spaces and the physical limits of the movements allowed for each of the drones. The central unit also permanently receives geolocation data in real time from each of the drones moving in one of the delimited spaces. From these data, the calculator of the central unit calculates in real time the estimated trajectories in order to determine if a drone is about to leave the defined evolution space or if there exists one or more collision trajectories. . From these estimates, the computer determines avoidance trajectories and transmits to the drones concerned corrective parameters which are recorded in the local memories in order to modify the flight behavior resulting from the local data and the data transmitted by the remote control equipment. .

Drones and playgrounds communicate in real time with a central server. The data exchanged is used to set the equipment according to the terrain, rules of the game, teams, etc. but also inform customers and the park manager in real time of the situation (scores, positions, speed, video recording).

Interactive elements called "public support" (40, 41) are placed on the edge of the playgrounds and allow spectators or other members of teams that are in the process of playing to intervene on a component of the game in progress portion.

For example: a fan (50), a laser turret, a button actuating a decorative element, inverting the controls, extinguishing the lighting of all or part of the flight field (51), ...

These interactions will be limited in their frequency of use and will be defined before the beginning of the games.

The evolution space can contain obstacles and be associated with laws of behavior and rules of games fixing the parameters of evolution, for applications such as: Course of obstacles and agility "Aviary" circuit of speed or address

Ball games - Opposition games

The Agility and Obstacle Course

The animation is a timed obstacle course testing the speed and agility of the drivers. It is practiced individually or with several people. It can be closed as in the example or opened. It can be played either manually or by programming upstream robots (challenges schools).

Nets delimiting the playing field, obstacles and application software executed by the central unit (30) make it possible to adapt the evolution space to this application. The dimensions of the land are at least 5m * 2,5m * 3m. It must take maximum advantage of the height and be composed of different obstacles (baffles, slopes, tunnels, hoops, etc.) to pass.

The goal of the game is to finish the obstacle course as quickly as possible and beat the time of the day / week / month.

The Aviary

The Aviary is a secure learning area for initiating and perfecting telepiloting. It is specially designed and equipped to allow beginners to approach the first maneuvers (takeoff, landing, rotation, turn, platform, ...). It will be arranged and / or declined to accommodate land robots.

The Aviary is a modular space with nets to accommodate a maximum of practitioners. It will be possible to arrange it for the challenges and the programming competitions but also for demonstrations or tests for the professionals.

The dimensions of the terrain are for example

10m * 10m * 6m. Circuits

It is a race on a circuit of drones or land robots that are flying in sight or in first-person view (FPV). The layout can be both indoors and outdoors. Participants must perform a defined number of rounds prior to departure. The race can be carried out either individually or in teams but also with drones and programmed robots (IA or school chalenges).

The equipment includes a circuit, a control screen, 3 minimum gateways, flags, obstacles, 2 to 8 drones / robots and application software.

The length of the route must be at least 80m indoors and 250m outdoors. The circuit must fit in a rectangle eg 180m * 100m (30m * 20m * 6m recommended indoor).

The markings on the ground and on the edges of the track must be clearly visible via the camera of the drones / robots. Each turn must be indicated by "flags" of lm50 high minimum for an indoor circuit and 2m50 outdoors.

The circuits will be equipped with passage gates, obstacles, tunnels, "public support" and will be designed with modular elements allowing to propose new routes regularly. Some obstacles may be interactive with remotely controlled or programmed machines or with the CU or with the public.

The goal of the game is to finish the circuit as quickly as possible and beat the time of the day / week / month.

Ball games

This is a ball game played with cocked drones or land robots on an indoor or outdoor pitch of 8.6m * 14m * 3m minimum. The two teams compete for control of the flying ball and must push it into the opposing team 's goal.

The drone / robot is equipped with a "soft" protection shell allowing it to bounce in case of shocks. With a diameter of 50cm minimum, it is programmed to return very slowly to the center of the field. The drone / robot and the drone drones will also be used in the different terrains.

The equipment includes 4 poles, 2 control screens, 5 nets delimiting the playground, 2 to 8 drones / robots, 2 goals, a flying ball and an application software.

For 5 minutes, two teams of 2 to 4 players compete for control of the flying ball and must push it into the goal of the opposing team. The party can to be realized either individually, or in team but also with drones and programmed robots (IA or chalenges schools).

The opposition games This is a game of conquest of beacons, with drones and / or robots, on an indoor or outdoor ground of 10m by 16m minimum with height of 4 to 8 meters.

The equipment includes 4 poles, 2 control screens, 5 nets delimiting the playground, 2 to 8 drones / robots, 3 to 9 beacons, and an application software run by the central unit (30). A decor can be installed as obstacles on the ground. (ex: tree, inflatable structure, false buildings,) and "public support". The beacons consist of a lamp capable of displaying 3 colors: white (neutral position), red, blue. The lamp is surrounded by a transparent protective shell of 20 cm in diameter resistant to the impact of drones. In order to indicate the state of loading of the beacon, a strip of at least 20 LEDs is glued inside the protective shell. As soon as a drone and / or a robot is at a defined distance (recommended a diameter of imètre) these change color.

Two teams of 2 to 8 players compete for possession of the beacons for a limited time of 2 minutes (minimum) to 4 minutes (recommended). At the end of the allotted time, the team with the most tags (of its color) wins the round.

battles The battlefield is an area in which different team or individual opposition games will take place in a labyrinth with drones and / or robots in first-person view. The duration of a round is recommended at 5 minutes maximum.

4 posts, 2 to 4 control screens, 5 nets defining the playing field, 2 to 10 drones / robots, driving glasses, obstacles, public support on the sides of the field, and an application software executed by the central unit (30).

The dimensions of the ground are of 10m by 16m minimum with for height of 4 to 8 meters.

The games will be defined by various objectives and rules such as the capture of flags, eliminate the opponents (laser game) or pushing them out of the area (sumo), get out of the maze, perform a sequence of timed actions, etc. .. All his games will be confronted by individual riders, in teams or in front of the AI during games or challenges.

Claims

claims

1) System for controlling the evolution of remote-controlled and / or preprogrammed machines in at least one evolution space comprising a plurality of remote-controlled and / or preprogrammed devices each associated with remote control equipment, said system comprising means geolocation of each of said machines and a memory for the recording of flight parameters and a computer for controlling the motion engines according to a treatment taking into account firstly the instructions transmitted by the remote control equipment associated and secondly the information stored in said local memory, characterized in that said system comprises a central unit provided with a means for acquiring the geolocation data transmitted by said remote-controlled machines, a memory for the registration of laws of evolution of the remote-controlled machines in said remote controlled space and a calculator for calc periodically using the absolute and relative positions of each of said machines operating in said evolution space and calculating for each of said gears flight parameters, the central unit comprising means for periodically transmitting to each of said gears the flight parameters which are assigned to it; and for controlling the recording of said flight parameters in its local memory.

2) System for controlling the evolution of remote-controlled and / or preprogrammed machines according to claim 1, characterized in that it comprises means for separating two evolution spaces, said means being made of an electrically conductive material for partially absorb electromagnetic waves and limit the propagation of electromagnetic signals from one space of evolution to another space of evolution. 3) System for controlling the evolution of remote-controlled and / or preprogrammed machines according to claim 2 characterized in that said means for separating two evolution spaces are constituted by a metal net.

4) System for the control of the evolution of remote-controlled and / or preprogrammed machines according to claim 1 characterized in that said memory comprises a data record representative of the geometric limits of each of said evolution spaces.

5) System for the control of the evolution of remote-controlled and / or preprogrammed machines according to claim 1, characterized in that it further comprises interaction devices between a spectator and said central unit which comprises, in addition to means for modification of the processing of the flight parameters according to the digital data transmitted by said interaction devices.

6) System for controlling the evolution of remote-controlled and / or preprogrammed machines according to claim 1, characterized in that said geolocation means comprise geolocation circuits integrated in each of said machines and means for periodic transmission of the information provided by the geolocation circuits in the central unit.

7) System for controlling the evolution of remote controlled and / or preprogrammed machines according to claim 1 characterized in that said geolocation means are constituted by fixed sensors for detecting gear installed in said evolution spaces. 8) System for controlling the evolution of remote controlled and / or preprogrammed machines according to claim 1 characterized in that said machines are equipped with bumpers.

9) System for controlling the evolution of remote controlled and / or preprogrammed machines according to claim 1 characterized in that it further comprises motorized seats controlled by signals provided by the central unit.

10) System for controlling the evolution of remote-controlled and / or preprogrammed machines according to claim 1 characterized in that the central unit further comprises a software connector for exchanging information with remote terminals via a computer network.