公开(公告)号：US20160290809A1

公开(公告)日：2016-10-06

申请号：US15087883

申请日：2016-03-31

Applicant: PARROT DRONES

Inventor： Pierre Eline ,  Francois Callou

IPC: G01C21/16 ,  G06T7/20 ,  B64C39/02

CPC classification number: G01C21/165 ,  B64C39/024 ,  B64C2201/127 ,  G06T7/20 ,  G06T2207/10016

Abstract: A vertical-view camera (16) delivers an image signal (ScamV) of the ground overflown by the drone. Gyrometric sensors (102) measure the Euler angles (φ, θ, Ψ) characterizing the attitude of the drone and delivering a gyrometric signal (Sgyro) representative of the instantaneous rotations. Rotation compensation means (136) receive the image signal and the gyrometric signal and deliver retimed image data, compensated for the rotations, then used to estimate the horizontal speeds of the drone. The camera and the inertial unit are piloted by a common clock (160), and it is provided a circuit (170) for determining the value of the phase-shift between the gyrometric signal and the image signal, and to apply this phase-shift value at the input of the rotation compensation means (136) to resynchronize the image signal onto the gyrometric signal before computation of the retimed image data.

Abstract translation: 垂直摄像机（16）通过无人机传送溢出的地面的图像信号（ScamV）。 气象传感器（102）测量表征无人机姿态的欧拉角（φ，θ，Ψ），并传送代表瞬时旋转的陀螺仪信号（Sgyro）。 旋转补偿装置（136）接收图像信号和陀螺仪信号，并传送重新定时的图像数据，补偿旋转，然后用于估计无人机的水平速度。 照相机和惯性单元由公共时钟（160）引导，并且其被提供有用于确定陀螺仪信号和图像信号之间的相移值的电路（170），并且应用该相移 在所述旋转补偿装置（136）的输入处的值被重新同步到所述重新定标图像数据的计算之前的所述陀螺仪信号。

公开(公告)号：US09797728B2

公开(公告)日：2017-10-24

申请号：US15087883

申请日：2016-03-31

Applicant: PARROT DRONES

Inventor： Pierre Eline ,  Francois Callou

IPC: G06K9/00 ,  G01C21/16 ,  B64C39/02 ,  G06T7/20

CPC classification number: G01C21/165 ,  B64C39/024 ,  B64C2201/127 ,  G06T7/20 ,  G06T2207/10016

Abstract: A vertical-view camera (16) delivers an image signal (ScamV) of the ground overflown by the drone. Gyrometric sensors (102) measure the Euler angles (φ, θ, Ψ) characterizing the attitude of the drone and delivering a gyrometric signal (Sgyro) representative of the instantaneous rotations. Rotation compensation means (136) receive the image signal and the gyrometric signal and deliver retimed image data, compensated for the rotations, then used to estimate the horizontal speeds of the drone. The camera and the inertial unit are piloted by a common clock (160), and it is provided a circuit (170) for determining the value of the phase-shift between the gyrometric signal and the image signal, and to apply this phase-shift value at the input of the rotation compensation means (136) to resynchronize the image signal onto the gyrometric signal before computation of the retimed image data.

公开(公告)号：US20170150053A1

公开(公告)日：2017-05-25

申请号：US15333014

申请日：2016-10-24

Applicant: PARROT DRONES

Inventor： Pierre Eline

IPC: H04N5/232 ,  B64D47/08 ,  B64C39/02

CPC classification number: H04N5/23258 ,  B64C39/024 ,  B64C2201/127 ,  B64D47/08 ,  H04N5/23267

Abstract: The drone comprises a camera (14) having a rolling shutter digital sensor which sends video data (l) line by line. An inertial unit (26) sends a gyrometric signal representative of the variations in attitude (φ, θ, Ψ) of the camera at a given instant. An image processing module (30) comprising an anti-wobble module receives the video data (l) and the gyrometric signal as inputs, and outputs video data processed and corrected for artifacts introduced by the vibrations of the motors of the drone. A complementary filtering module (36) applies a predetermined compensating transfer function to the gyrometric signal at the input of the anti-wobble module, which transfer function is an inverse transfer function of the frequency response of the gyrometric sensor of the inertial unit.

公开(公告)号：US10165185B2

公开(公告)日：2018-12-25

申请号：US15333014

申请日：2016-10-24

Applicant: PARROT DRONES

Inventor： Pierre Eline

IPC: H04N5/232 ,  B64C39/02 ,  B64D47/08

Abstract: The drone comprises a camera (14) having a rolling shutter digital sensor which sends video data (l) line by line. An inertial unit (26) sends a gyrometric signal representative of the variations in attitude (φ, θ, ψ) of the camera at a given instant. An image processing module (30) comprising an anti-wobble module receives the video data (l) and the gyrometric signal as inputs, and outputs video data processed and corrected for artifacts introduced by the vibrations of the motors of the drone. A complementary filtering module (36) applies a predetermined compensating transfer function to the gyrometric signal at the input of the anti-wobble module, which transfer function is an inverse transfer function of the frequency response of the gyrometric sensor of the inertial unit.

公开(公告)号：US20180109731A1

公开(公告)日：2018-04-19

申请号：US15842710

申请日：2017-12-14

Applicant: PARROT DRONES

Inventor： Pierre Eline

IPC: H04N5/232 ,  H04N5/347 ,  A63H27/00 ,  H04N5/225 ,  B64D47/08 ,  H04N5/345 ,  A63H30/04 ,  B64C27/08 ,  B64C39/02

CPC classification number: H04N5/23287 ,  A63H27/12 ,  A63H30/04 ,  B64C27/08 ,  B64C39/024 ,  B64C39/028 ,  B64C2201/024 ,  B64C2201/027 ,  B64C2201/108 ,  B64C2201/127 ,  B64D47/08 ,  H04N5/2257 ,  H04N5/23238 ,  H04N5/23258 ,  H04N5/2327 ,  H04N5/23274 ,  H04N5/3454 ,  H04N5/347

Abstract: The drone comprises a camera, an inertial unit measuring the drone angles, and an extractor module delivering data of an image area (ZI) of reduced size defined inside a capture area (ZC) of the sensor. A feedback-control module dynamically modifies the position and the orientation of the image area inside the capture area, in a direction opposite to that of the angle variations measured by the inertial unit. The sensor may operate according to a plurality of different configurations able to be dynamically selected, with a base configuration using a base capture area (ZCB) for low values of roll angle (θ), and at least one degraded mode configuration using an extended capture area (ZCE) of greater size than the base capture area (ZCB), for high values of roll angle (θ).

公开(公告)号：US09876959B2

公开(公告)日：2018-01-23

申请号：US15004733

申请日：2016-01-22

Applicant: Parrot Drones

Inventor： Pierre Eline

IPC: H04N5/228 ,  H04N7/18 ,  H04N5/232 ,  A63H27/00 ,  A63H30/04 ,  B64C39/02 ,  H04N5/345 ,  H04N5/347 ,  B64C27/08 ,  B64D47/08 ,  H04N5/225

CPC classification number: H04N5/23287 ,  A63H27/12 ,  A63H30/04 ,  B64C27/08 ,  B64C39/024 ,  B64C39/028 ,  B64C2201/024 ,  B64C2201/108 ,  B64C2201/127 ,  B64D47/08 ,  H04N5/2257 ,  H04N5/23238 ,  H04N5/23258 ,  H04N5/2327 ,  H04N5/23274 ,  H04N5/3454 ,  H04N5/347

Abstract: The drone comprises a camera, an inertial unit measuring the drone angles, and an extractor module delivering data of an image area (ZI) of reduced size defined inside a capture area (ZC) of the sensor. A feedback-control module dynamically modifies the position and the orientation of the image area inside the capture area, in a direction opposite to that of the angle variations measured by the inertial unit. The sensor may operate according to a plurality of different configurations able to be dynamically selected, with a base configuration using a base capture area (ZCB) for low values of roll angle (θ), and at least one degraded mode configuration using an extended capture area (ZCE) of greater size than the base capture area (ZCB), for high values of roll angle (θ).

公开(公告)号：US09826202B2

公开(公告)日：2017-11-21

申请号：US14855287

申请日：2015-09-15

Applicant: PARROT DRONES

Inventor： Pierre Eline ,  Eng Hong Sron

IPC: H04N7/18 ,  H04N5/232 ,  H04N5/353 ,  B64C39/02 ,  B64D47/08 ,  G06F3/0346

CPC classification number: H04N7/185 ,  B64C39/024 ,  B64C2201/123 ,  B64D47/08 ,  G06F3/0346 ,  H04N5/23258 ,  H04N5/23264 ,  H04N5/23267 ,  H04N5/3532

Abstract: The apparatus comprises a camera (10) with a digital sensor read by a mechanism of the rolling shutter type delivering video data (Scam) line by line. An exposure control circuit (22) adjusts dynamically the exposure time (texp) as a function of the level of illumination of the scene that is captured. A gyrometer unit (12) delivers a gyrometer signal (Sgyro) representative of the instantaneous variations of attitude (φ, θ, ψ) of the camera, and a processing circuit (18) that receives the video data (Scam) and the gyrometer signal (Sgyro) delivers as an output video data processed and corrected for artefacts introduced by vibrations specific to the apparatus. An anti-wobble filter (24) dynamically modifies the gain of the gyrometer signal as a function of the exposure time (texp), so as to reduce the gain of the filter when the exposure time increases, and vice versa.