公开(公告)号：US09563200B2

公开(公告)日：2017-02-07

申请号：US13733386

申请日：2013-01-03

Applicant: PARROT

Inventor： Michael Rischmuller ,  Francois Callou

IPC: G05D1/00 ,  A63H30/04 ,  H04N5/232 ,  A63H27/00

CPC classification number: G05D1/0038 ,  A63H27/12 ,  A63H30/04 ,  G05D1/0094 ,  H04N5/23216 ,  H04N5/23245 ,  H04N5/23248

Abstract: The drone (10) comprises an onboard video camera (14) picking up a sequence of images to be transmitted to a remote control. The user selects an exposure mode such as forward or sideways, panoramic or boom plane, tracking, defining a trajectory to be transmitted to the drone. Corresponding setpoint values are generated and applied to a processing subsystem controlling the motors of the drone. Once the drone is stabilized on the prescribed trajectory (38), the exposure by the video camera (14) is activated and the trajectory is stabilized by an open loop control avoiding the oscillations inherent in a servocontrol with feedback loop.

Abstract translation: 无人机（10）包括车载摄像机（14），拾取要发送到遥控器的一系列图像。 用户选择诸如向前或侧向，全景或起重臂平面的曝光模式，跟踪，定义要发送到无人机的轨迹。 生成相应的设定值并将其应用于控制无人机的电动机的处理子系统。 一旦无人机在规定的轨迹（38）上稳定，摄像机（14）的曝光被激活，并且通过开环控制来稳定轨迹，避免了具有反馈回路的伺服控制中固有的振荡。

公开(公告)号：US09387927B2

公开(公告)日：2016-07-12

申请号：US14323851

申请日：2014-07-03

Applicant: PARROT

Inventor： Michael Rischmuller ,  Laure Chevalley ,  Francois Callou ,  Etienne Caldichoury

IPC: B64C39/02 ,  G05D1/10

CPC classification number: B64C39/024 ,  B64C2201/024 ,  B64C2201/141 ,  G05D1/102

Abstract: The drone comprises: a vertical-view camera (132) pointing downward to pick up images of a scene of the ground overflown by the drone; gyrometer, magnetometer and accelerometer sensors (176); and an altimeter (174). Navigation means determine position coordinates (X, Y, Z) of the drone in an absolute coordinate system linked to the ground. These means are autonomous, operating without reception of external signals. They include image analysis means, adapted to derive a position signal from an analysis of known predetermined patterns (210), present in the scene picked up by the camera, and they implement a predictive-filter estimator (172) incorporating a representation of a dynamic model of the drone, with as an input the position signal, a horizontal speed signal, linear and rotational acceleration signals, and an altitude signal.

Abstract translation: 无人机包括：向下指示的垂直摄像机（132），以拾取由无人机所溢出的地面的场景的图像; 陀螺仪，磁力计和加速度传感器（176）; 和高度计（174）。 导航意味着确定无人机在与地面相连的绝对坐标系中的位置坐标（X，Y，Z）。 这些手段是自主的，在没有接收到外部信号的情况下运行。 它们包括图像分析装置，适于从存在于摄像机拾取的场景中的已知预定模式（210）的分析中导出位置信号，并且它们实现了包含动态表示的预测滤波器估计器（172） 无人机的型号，作为输入的位置信号，水平速度信号，线性和旋转加速度信号以及高度信号。

公开(公告)号：US20130176423A1

公开(公告)日：2013-07-11

申请号：US13733386

申请日：2013-01-03

Applicant: Parrot

Inventor： Michael Rischmuller ,  Francois Callou

IPC: G05D1/00

CPC classification number: G05D1/0038 ,  A63H27/12 ,  A63H30/04 ,  G05D1/0094 ,  H04N5/23216 ,  H04N5/23245 ,  H04N5/23248

Abstract: The drone (10) comprises an onboard video camera (14) picking up a sequence of images to be transmitted to a remote control. The user selects an exposure mode such as forward or sideways, panoramic or boom plane, tracking, defining a trajectory to be transmitted to the drone. Corresponding setpoint values are generated and applied to a processing subsystem controlling the motors of the drone. Once the drone is stabilized on the prescribed trajectory (38), the exposure by the video camera (14) is activated and the trajectory is stabilized by an open loop control avoiding the oscillations inherent in a servocontrol with feedback loop.

Abstract translation: 无人机（10）包括车载摄像机（14），拾取要发送到遥控器的一系列图像。 用户选择诸如向前或侧向，全景或起重臂平面的曝光模式，跟踪，定义要发送到无人机的轨迹。 生成相应的设定值并将其应用于控制无人机的电动机的处理子系统。 一旦无人机在规定的轨迹（38）上稳定，摄像机（14）的曝光被激活，并且通过开环控制来稳定轨迹，避免了具有反馈回路的伺服控制中固有的振荡。