• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The obstacle detection assembly is provided for a rotary-wing drone (10), and comprises an obstacle detection device (28) having a motorized directional detection support (30) configured to be fixed to the drone ( 10), and an obstacle detection unit (30) carried by the orientable support, the obstacle detection unit (30) carrying at least one obstacle detection sensor (64, 66) and having an axis aiming device (A2), and an orientation module (52) configured to control the orientable detection support (32) so as to orient the aiming axis (A2) of the obstacle detection unit (30) as a function of the direction of movement of the drone (10) carrying the adjustable detection support (32).
    公开号:FR3087134A1
    申请号:FR1859387
    申请日:2018-10-10
    公开日:2020-04-17
    发明作者:Maher OUDWAN；Henri Seydoux Fornier de Clausonne
    申请人:Parrot Drones SAS；
    IPC主号:
    专利说明:

    Obstacle detection assembly for drone, drone equipped with such an obstacle detection assembly and obstacle detection method
    The present invention relates to the field of unmanned aircraft on board (or "drones") rotary wing, and in particular the detection of obstacle in the path of a rotary wing drone.
    It is possible to pilot a rotary-wing drone remotely, for example by using an on-board camera on the drone, the images of which are transmitted to a remote piloting device so as to allow the pilot to see what is located in front of the drone. .
    A drone can also be piloted autonomously by an autopilot, on board the drone or piloting the drone remotely, using the images provided by a camera on board the drone.
    However, when the drone faces an obstacle in its path, it can be difficult for the human pilot or the autopilot to find an obstacle avoidance path effectively.
    One of the aims of the invention is to propose an obstacle detection device which facilitates the piloting of a rotary-wing drone.
    To this end, the invention provides an obstacle detection assembly for a rotary-wing drone, comprising an obstacle detection device having an adjustable motorized detection support configured to be fixed to the drone, and a detection unit for obstacle carried by the orientable support, the obstacle detection unit carrying at least one obstacle detection sensor and having an aiming axis, and an orientation module configured to control the orientable detection support so as to orient the line of sight of the obstacle detection unit as a function of the direction of movement of the drone carrying the adjustable detection support.
    The obstacle detection unit carried by the orientable support intended to be fixed to the drone can be oriented relative to the drone to aim substantially in the direction of movement of the drone, which can be distinct from the roll axis of the drone and / or the line of sight of a camera used to pilot the drone.
    When a first obstacle presents itself in front of the drone, it is in particular possible to keep the drone oriented towards this first obstacle, to move the drone laterally by pointing the obstacle detection unit on the side of the drone to detect a possible second obstacle located on the side of the drone, until the drone is laterally offset from the first obstacle and can continue to advance.
    In particular embodiments, the obstacle detection assembly comprises one or more of the following optional characteristics, taken in isolation or in any technically possible combination:
    - the orientation module is configured to control the orientable detection support so that the orthogonal projection of the line of sight on the reference plane defined by the roll axis and the pitch axis of the drone coincides with the orthogonal projection of the direction of movement of the drone on this reference plane;
    - the orientation module is configured to control the orientable detection support so that the projection of the aiming axis on the horizontal plane coincides with the projection of the direction of movement of the drone on this reference plane;
    - The adjustable detection support is configured for the orientation of the obstacle detection unit around at least two axes of rotation perpendicular to each other, and preferably around three orthogonal axes of rotation;
    - one of the axes of rotation coincides with the yaw axis of the drone;
    the orientation module is configured to determine the direction of movement of the drone, for example as a function of piloting instructions received by the drone and / or of data supplied by a geolocation device of the drone and / or an inertial unit of the drone;
    - the obstacle detection unit carries two obstacle detection sensors which are stereovision cameras;
    the obstacle detection unit carries at least one obstacle detection sensor which is a telemetry sensor, each telemetry sensor being for example an optical telemetry sensor, an acoustic telemetry sensor or a radar telemetry sensor .
    The invention also relates to a drone equipped with an obstacle detection assembly as defined above, the orientable detection support being fixed to the drone.
    The invention also relates to an obstacle detection method on the trajectory of a rotary-wing drone, comprising the control of an adjustable detection support mounted on the drone and carrying an obstacle detection unit having at least one obstacle detection sensor and having an aiming axis, so as to orient the aiming axis of the obstacle detection unit as a function of the direction of movement of the drone.
    In particular embodiments, the obstacle detection method comprises one or more of the following optional characteristics, taken in isolation or in any technically possible combination:
    - It includes the control of the orientable detection support so that the projection of the aiming axis on the reference plane defined by the roll axis and the pitch axis of the drone coincides with the projection of the direction of movement. drones on this reference plane;
    - It includes the control of the adjustable detection support so that the projection of the aiming axis on the horizontal plane coincides with the projection of the direction of movement of the drone on the horizontal plane.
    The invention and its advantages will be better understood 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 view of a rotary-wing drone equipped with an obstacle detection assembly;
    - Figure 2 is an enlarged schematic view of zone II in Figure 1, illustrating an obstacle detection device of the obstacle detection assembly;
    - Figures 3 and 4 are schematic perspective views of the obstacle detection assembly illustrating the orientation of an obstacle detection unit of the obstacle detection assembly as a function of the direction of movement drone; and
    - Figures 5 and 6 are schematic top views of the drone of Figure 1, illustrating scenarios of obstacle avoidance
    In FIGS. 1 and 2, a drone 10, that is to say a human unmanned aircraft on board, is equipped with an observation camera 12 and an obstacle detection assembly 14.
    The drone 10 is a self-piloted or remote-controlled motorized flying machine, for example via a remote control device 16 equipped with a display screen 18, allowing the user to enter his flight commands and / or view images taken by the observation camera 12 and sent by the drone 10.
    The remote control device 16 is known per se. In the example of FIG. 1, the remote control device 16 is produced via a computer (from the English “smartphone”) or an electronic tablet. As a variant, the remote control device 16 is a joystick comprising for example at least one mobile control member, for example a control lever (or “joystick”), a rotary button, a slider, etc.
    The drone 10 is a rotary wing drone and comprises at least one rotor 20 to ensure the vertical lift of the drone 10. In FIG. 1, the drone 10 comprises a plurality of rotors 20, and is then called a multirotor drone. The number of rotors 20 is for example equal to four, and the drone 10 is then called quadrotor drone.
    The drone 10 usually presents an orthogonal reference frame having a roll axis X, a pitch axis Y and a yaw axis Z. When the drone 10 is hovering, the roll axis X is directed horizontally from back to front, the pitch axis Y is directed horizontally from right to left, and the yaw axis Z is directed vertically from bottom to top.
    The drone 10 comprises an electronic piloting device 22 configured for piloting the drone 10.
    The electronic control device 22 is preferably configured to exchange data, preferably by radio waves, with one or more electronic equipment, in particular with the remote control device 16, or even with other electronic equipment for the transmission of the or images acquired by the observation camera 12 and / or other information relating to the drone 10, such as an altitude, an inclination, a speed, a flight state, a geographical position and / or a load of an electric battery fitted to the drone 10.
    The drone 10 comprises a piloting module 26 configured to pilot the drone 10 according to flight instructions from a human pilot or an automatic pilot sent by the remote piloting device 16, and / or to pilot the drone 10 from autonomously, in which case the control module 26 itself incorporates an automatic pilot.
    The observation camera 12 is for example mounted on the drone 10 via a motorized orientable observation support 27 (often designated by the English term "gimbal") making it possible to modify the orientation of the axis of aiming A1 of the observation camera 12 relative to the drone 10.
    As a variant, the observation camera 12 is fixedly mounted on the drone 10 and is aimed at the front, making it possible to obtain an image of a scene towards which the drone is oriented. As a further variant, the observation camera 12 is fixed mounted on drone 10 and is aimed vertically pointing downwards to capture images of terrain overflown by drone 10.
    The observation camera 12 makes it possible to capture images from the drone 10 which can possibly be used for piloting the drone 10, by a human pilot or an autopilot.
    The obstacle detection assembly 14 is configured to detect any obstacles present in the path of the drone 10.
    As can be seen more clearly in FIG. 2, the obstacle detection assembly 14 comprises an obstacle detection device 28 comprising an obstacle detection unit 30 and orientable motorized detection support 32, the detection unit obstacle 30 having a line of sight A2 and being mounted on the drone 10 by means of the orientable detection support 32, so as to be able to modify the orientation of the obstacle detection unit 30 relative to the drone 10 in order to point the obstacle detection unit 30 in a chosen direction.
    The obstacle detection device 28 is fixed to the drone 10 so as to be able to detect obstacles in the path of the drone 10.
    The obstacle detection unit 30 defines the sensitive part of the obstacle detection assembly 14. The obstacle detection unit 30 comprises one or more obstacle detection sensors as will be described below. .
    The orientable detection support 32 is configured to allow the orientation of the obstacle detection unit 30 relative to the drone 10 around at least one axis of rotation, preferably around at least two distinct axes of rotation , for example around two distinct axes of rotation, in particular two axes of rotation perpendicular to each other, again preferably around three distinct axes of rotation, for example three orthogonal axes, preferably concurrent, ie intersecting in a center of rotation .
    The orientable detection support 32 is here configured for the orientation of the obstacle detection unit 30 around three axes of rotation V1, V2, V3 concurrent orthogonal intersecting in a center of rotation O, as illustrated by the arrows R1, R2, R3 respectively.
    The orientable detection support 32 has a fixed part 34 configured to be fixed to the drone 10, a mobile part 36 carrying the obstacle detection unit 30, and an articulation assembly 38 connecting the fixed part 34 to the part mobile 36 to allow rotation of the mobile part 36 relative to the fixed part 34 about each axis of rotation V1, V2, V3. The articulation assembly 38 has for example a respective articulation 40, 42, 44 associated with each axis of rotation V1, V2, V3.
    The adjustable detection support 32 is motorized to allow the orientation of the obstacle detection unit to be controlled 30. The adjustable detection support 32 has at least one orientation motor configured to control the orientation of the unit for detecting an obstacle 30. The orientable detection support 32 has for example a respective orientation motor associated with each axis of rotation V1, V2, V3 to modify the orientation of the obstacle detection unit 30 around this axis of rotation V1, V2, V3. Each orientation motor is for example an electric motor or a piezoelectric motor.
    The obstacle detection assembly 14 comprises an orientation module 52 (FIG. 1) configured to control the adjustable detection support 32, in particular each orientation motor of the adjustable detection support 32, so as to orient the line of sight A2 of the obstacle detection unit 30 as a function of the direction of movement of the drone 10.
    Advantageously, the obstacle detection unit 30 is equipped with an inertial unit 54 (or IMU from the English “Inertial Measurment Unit >>) for measuring the movements and / or the position of the detection unit. obstacle 30.
    The orientation module 52 is then configured to control the orientable detection support 32 as a function of the data supplied by the inertial unit 54 equipping the obstacle detection unit 30. This allows more precise control of the orientation of the obstacle detection unit 30.
    The drone 10 optionally includes a geolocation device 56 configured to determine the geographical position of the drone 10 as a function of geolocation signals emitted by geolocation satellites, for example a geolocation satellite system such as the GPS system, the GLONASS system or the GALILEO system.
    The drone 10 preferably comprises an inertial unit 58 (or IMU from the English "Inertial Measurment Unit") configured to determine the orientation of the drone 10, its movements and / or its position.
    The orientation module 52 is for example configured to control the orientable detection support 32 as a function of the movement of the drone 10 determined from data coming from the control module 26, from the geolocation device 56 and / or from the inertial unit 58 .
    As illustrated in FIGS. 3 and 4, which illustrate two different directions of movement D, in an exemplary embodiment, the orientation module 52 is configured to control the orientable detection support 32 so that the orthogonal projection PA2 of the line of sight A2 of the obstacle detection unit 30 on the reference plane PR defined by the roll axis X and the pitch axis Y of the drone 10 coincides with the orthogonal projection PD of the direction of movement D of the drone 10 on this PR reference plane.
    As a variant, the orientation module 52 is configured to control the orientable detection support 32 so that the orthogonal projection of the line of sight A2 of the obstacle detection unit 30 on the horizontal plane coincides with the projection orthogonal to the direction of movement D of the drone 10 on this horizontal plane.
    In practice, the reference plane PR and the horizontal plane are substantially close for a rotary-wing drone 10, so that these two solutions work substantially equally. When the drone 10 is hovering, the reference plane PR is coincident with the horizontal plane, and when the drone 10 is moving, the reference plane PR can make an angle of a few degrees with the horizontal plane.
    The orientation of the obstacle detection unit 30 so that the orthogonal projection of its line of sight A2 on the reference plane PR or on the horizontal plane coincides with that of the direction of movement of the drone 10 makes it possible to point the line of sight A2 of the obstacle detection unit 20 in the direction in which the drone 10 moves horizontally and is liable to encounter obstacles.
    The orientable detection support 32 is for example fixed on the top of the drone 10. Owing to this position, the obstacle detection unit 30 can be oriented in any direction in the half space situated above the drone 10 , and has a blind spot corresponding substantially to the half-space situated under the drone 10, since the drone 10 itself prevents the obstacle detection unit 30 from detecting the obstacles situated below the drone 10.
    Advantageously, as illustrated in FIG. 3, during a horizontal or upward movement of the drone 10, the orientation module 52 is configured to control the orientable detection support 32 so that the aiming axis A2 of the unit obstacle detection 30 is substantially parallel to the direction of movement D of the drone 10. This makes it possible to take account of the vertical component of the movement of the drone 10.
    As illustrated in FIG. 4, during a downward movement of the drone 10, the obstacle detection unit 30 is for example oriented so that its line of sight is substantially horizontal, the projection of the line of sight A2 on the reference plane PR or the horizontal plane coinciding with the projection of the direction of movement of the drone 10 on the reference plane PR or the horizontal plane.
    Advantageously, in known manner, the drone 10 is equipped with at least one obstacle detector 60 (FIG. 1) mounted stationary on the drone 10 and with a vertical axis of sight A3 directed downwards for the detection of obstacles located under the drone 10 for the movements of the drone having a vertical component downwards.
    In a variant, the obstacle detection unit 30 is fixed under the drone 10 to detect obstacles located in the half-space located under the drone 10.
    The orientable detection support 32 is then for example controlled to orient the line of sight A2 of the obstacle detection unit 30 substantially along the direction of movement D of the drone 10 during horizontal movements and downward movements, and / or to orient the sighting axis A2 substantially horizontally, the projection of the sighting axis A2 on the reference plane or the horizontal plane coinciding with the projection of the direction of movement of the drone 10 on the reference plane or the plane horizontal, during upward movements.
    Advantageously, as an option, the drone 10 is then equipped with at least one obstacle detector mounted stationary on the drone 10 and with a vertical sighting axis directed upwards for the detection of obstacles situated under the drone 10 for movement. of the drone 10 having a vertical component upwards.
    In another variant the drone 10 is equipped with two obstacle detection devices 28, the obstacle detection unit 30 of one being mounted above the drone 10 to detect obstacles located in the half-space located above the drone 10, and the obstacle detection unit 30 of the other being mounted below the drone 10 to detect the obstacles located in the half-space located below the drone 10.
    The obstacle detection unit 30 comprises at least one obstacle detection sensor enabling remote obstacle detection along the line of sight A2 of the obstacle detection unit 30.
    The obstacle detection assembly 14 comprises an obstacle detection module 62 (FIG. 1) configured to determine the possible presence of an obstacle based on the data supplied by each obstacle detection sensor of the detection unit. obstacle detection 30.
    The obstacle detection unit 30 carries, for example, two obstacle detection sensors which are stereovision cameras 64 (FIGS. 1 and 2) and which make it possible to detect obstacles by stereoscopic or "stereovision" measurement.
    The stereovision cameras 64 each have a respective camera aiming axis (not shown), the respective aiming axes of the two stereovision cameras 64 being distinct. The viewing axes of the two stereovision cameras 62 are for example parallel to each other, preferably being parallel to the viewing axis A2 of the obstacle detection unit 30. As a variant, the viewing axes of the two cameras of stereovision 64 define a non-zero angle between them, preferably being concurrent.
    In a known manner, the analysis of two images of the same scene captured by two cameras having separate viewing axes makes it possible to reconstruct a three-dimensional map of the scene, and thus to detect obstacles in the scene. Thus, the stereovision cameras 62 make it possible to detect obstacles in the scene located in front of the obstacle detection unit 30.
    The obstacle detection module 62 is for example configured to analyze the images supplied by the stereovision cameras 64 and determine the possible presence of an obstacle.
    As an alternative or optional addition, the obstacle detection unit 30 carries for example at least one obstacle detection sensor which is a range finding sensor 66, each range finding sensor 66 being configured to measure a distance with an obstacle .
    Each telemetry sensor 66 is for example configured to detect a distance with a distant object along the line of sight A2 of the obstacle detection unit 30.
    The obstacle detection unit 30 carries for example at least one optical telemetry sensor 66 using light, at least one acoustic telemetry sensor 66 using acoustic waves and / or at least one radar telemetry sensor 66 using waves radioelectric.
    An optical telemetry sensor is for example a laser rangefinder (or LIDAR) or a time-of-flight camera. An acoustic telemetry sensor is for example a sonar. A radar telemetry sensor is for example a radar.
    The obstacle detection module 62 is then configured to analyze the data supplied by each telemetry sensor 66 to determine the possible presence of an obstacle. The electronic piloting device 22 is integrated in the drone 10.
    The electronic control device 22 comprises for example an information processing unit 68, formed for example by a memory 70 and a processor 72.
    In the example of FIG. 1, the control module 26 is produced in the form of software recorded on the memory 70 and executable by the processor 72.
    Advantageously, as in the illustrated embodiment, the orientation module 52 and the obstacle detection module 62 are integrated in the drone 10.
    The obstacle detection device 28 - formed by the adjustable detection support 32 and the obstacle detection unit 30 - thus receives the orientation commands from the obstacle detection unit 30 from the drone 10 and sends the obstacle detection measurements to the drone 10, the drone 10 then configured to determine in which direction to orient the obstacle detection unit 30 as a function of the movement of the drone 10, and to decide on the movement of the drone 10 as a function of the data supplied by the obstacle detection unit 30, in particular for deciding on a possible halt in the movement of the drone 10 in the event of detection of an obstacle.
    In particular, and as in the example illustrated, the orientation module 52 and the obstacle detection module 62 of the obstacle detection assembly 14 are for example integrated into the electronic control device 22, ie at the on-board electronics of the drone 10.
    Thus, it is more precisely the electronic control device 22 comprising the orientation module 52 and the obstacle detection module 62, which is configured to determine in which direction to orient the obstacle detection unit 30 as a function of the movement of the drone 10, and decide on the movement of the drone 10 as a function of the data supplied by the obstacle detection unit 30, in particular to decide on a possible stop of the movement of the drone 10 in the event of detection of an obstacle .
    The orientation module 52 and the obstacle detection module 62 are for example each produced in the form of software that can be recorded on the memory 70 and can be executed by the processor 72.
    As a variant, at least one of the orientation module 52 and the obstacle detection module 62 of the obstacle detection assembly 14 is at least partly or entirely integrated in the obstacle detection device 28 formed by the orientable detection support 32 and the obstacle detection unit 30.
    To do this, for example, at least one of the orientation module 52 and the obstacle detection module 62 is at least partially or entirely located in an information processing unit separate from that of the electronic device for control 14, and housed in the obstacle detection device 28, for example housed in the adjustable detection support 32 and / or in the obstacle detection unit 30.
    As a variant or as an optional addition, at least one of the control module 26, the orientation module 52 and the obstacle detection module 62 is produced in the form of a programmable logic component, such as an FPGA (of “Field Programmable Gate Array”), or in the form of a dedicated integrated circuit, such as an ASIC (from the “Application Specific Integrated Circuit”), each of these modules then being housed for example in the drone 10 or in the obstacle detection device 28.
    The operation of the drone 10 equipped with the obstacle detection assembly 14 will now be described with reference to FIGS. 5 and 6 which illustrate scenarios of obstacle avoidance by the drone 10.
    The drone 10 is for example controlled by a human pilot from the joystick or by an automatic pilot of the piloting module 26, for example configured to pilot the drone 10 to a destination point.
    In the illustrated scenario, while the drone 10 initially flies horizontally forward in a straight line, an obstacle 80 appears in front of the drone 10 (Figure 5). The obstacle here is a vertical wall, for example a wall or a rock wall.
    The line of sight A1 of the observation camera 12 of the drone 10 is initially directed towards the front, possibly being inclined downwards. This allows a pilot to see the scene in front of the drone or to see images of the ground in front of the drone.
    The line of sight A2 of the obstacle detection unit 30 is oriented horizontally towards the front of the drone 10, i.e. in the direction of movement D of the drone 10, to detect a possible obstacle in front of the drone 10.
    The obstacle detection assembly 14 detects the presence of the obstacle 80 in front of the drone 10 and transmits this information to the piloting module 26 of the drone 10. The piloting module 26 of the drone 10 stops the drone 10 in front of the obstacle 80 so as not to strike the obstacle 80.
    The human pilot or the autopilot then performs a maneuver to avoid the obstacle 80 so as to continue its progress towards the destination point.
    To do this, the human pilot or the autopilot controls, for example, the lateral movement of the drone 10 (FIG. 6) while keeping the orientation of the drone 10 and of the observation camera 12 unchanged. The drone 10 moves “in crab”.
    Maintaining the observation camera 12 facing the obstacle 80 allows the human pilot or the autopilot to continue to see the obstacle 80 to determine when the drone 10 will have been shifted relative to the obstacle 80 and may continue to move forward to continue its progression.
    The orientation module 52 controls the orientable detection support 32 to orient the obstacle detection unit 30 to direct its line of sight A2 as a function of the direction of movement of the drone 10, here following the direction of movement of the drone 10, horizontally to the right. Thus, the obstacle detection unit 30 makes it possible to detect a possible new obstacle 82 in the direction in which the drone 10 is moving.
    The human pilot or the autopilot can therefore keep the observation camera 12 oriented towards the front of the drone 10 and move the drone 10 laterally to the side without risking hitting a new obstacle 82 which would be located laterally on the side of the drone 10.
    When the obstacle detection module 62 detects the presence of a new obstacle 82 on the path of the drone 10 from data captured by the obstacle detection unit 30, the obstacle detection module 62 informs the piloting module 26 which can possibly decide to automatically stop the drone 10 to avoid hitting this new obstacle 82. The human pilot or the automatic pilot can then perform a new maneuver to avoid the new obstacle 82.
    The obstacle detection assembly 14 makes it possible to detect obstacles in the path of the drone 10 with the same obstacle detection unit 30 for different directions of movement of the drone 10 relative to the orthogonal reference of the drone 10.
    This makes it possible to move the drone 10 to perform an obstacle avoidance maneuver without orienting the drone 10 or its observation camera 12 in the direction of movement of the drone 10 during the bypass maneuver.
    This facilitates the carrying out of the bypass maneuver by, for example, making it possible to keep the observation camera 12 pointed at the obstacle in order to determine the contours, while moving the drone 10 in another direction without risk of hitting an obstacle.
    The drone 10 can also be equipped with at least one obstacle detection sensor 60 fixedly mounted on the drone 10 for the detection of an obstacle in a blind spot area of the obstacle detection assembly 14.
    The obstacle detection assembly 14 is for example configured to detect obstacles in the half-space located above the drone 10, each obstacle detection sensor 60 fixedly mounted on the drone 10 being configured for the detection of obstacle in the half-space below the drone 10.
    In an inverted configuration, the obstacle detection assembly 14 for example configured to detect obstacles in the half-space located below the drone 10, each obstacle detection sensor 60 fixedly mounted on the drone 10 being configured for obstacle detection in the half-space above the drone 10.
    In such a configuration, the obstacle detection assembly 14 is for example fixed under the drone 10 and / or each obstacle detection sensor mounted fixed on the drone 10 being vertically aimed upwards.
    Alternatively, the drone 10 is equipped with two obstacle detection assemblies 14 arranged to detect obstacles in respective half-spaces.
    In all cases, the obstacle detection assembly 14 makes it possible to limit the number of fixed obstacle detectors by taking charge of the obstacle detection in an area of the extended space, typically a half-space of 2π radians or a larger area of space.
    The presence of an observation camera 12 and in addition of an obstacle detection assembly 14 comprising an obstacle detection unit 30 mounted on a motorized detection directional support 32 is advantageous independently of the control of the orientation of the obstacle detection unit 30 as a function of the direction of movement of the drone 10.
    Thus, according to another aspect, the invention relates to a drone provided with an observation camera mounted on the drone and an obstacle detection assembly comprising an obstacle detection unit mounted on the drone by the Intermediate a motorized detection orientable support so that the obstacle detection unit is orientable relative to the drone.
    The observation camera is mounted fixed on the drone or orientable with respect to the drone by means of an orientable motorized observation support. The fixed observation camera 10 is for example in front or vertical view.
    The obstacle detection unit carries at least one obstacle detection sensor. The obstacle detection unit for example carries obstacle detection sensors which are stereovision cameras and / or at least one telemetry sensor, in particular an optical telemetry sensor, an acoustic telemetry sensor and / or a radar telemetry sensor.
    权利要求:
    Claims (12)
    [1" id="c-fr-0001]
    1, - Obstacle detection assembly for rotary-wing drone (10), comprising an obstacle detection device (28) having a motorized directional detection support (32) configured to be fixed to the drone (10), and an obstacle detection unit (30) carried by the orientable support, the obstacle detection unit (30) carrying at least one obstacle detection sensor (64, 66) and having an aiming axis ( A2), and an orientation module (52) configured to control the orientable detection support (32) so as to orient the line of sight (A2) of the obstacle detection unit (30) as a function of ia direction of movement of the drone (10) carrying the adjustable detection support (32).
    [2" id="c-fr-0002]
    2, - obstacle detection assembly according to claim 1, wherein the orientation module (52) is configured to control the orientable detection support (32) so that the orthogonal projection of the line of sight on ie reference plane defined by the roll axis (X) and the pitch axis (Y) of the drone (10) coincides with the orthogonal projection of the direction of movement (D) of the drone (10) on this reference plane .
    [3" id="c-fr-0003]
    3, - obstacle detection assembly according to claim 1, in which the orientation module (52) is configured to control the orientable detection support (32) so that the projection of the aiming axis (A2) on the horizontal plane coincides with the projection of the direction of movement (D) of the drone (10) on this reference plane.
    [4" id="c-fr-0004]
    4, - Obstacle detection assembly according to any one of the preceding claims, in which the orientable detection support (32) is configured for the orientation of the obstacle detection unit (30) around at least minus two axes of rotation perpendicular to each other, and preferably around three orthogonal axes of rotation (V1, V2, V3).
    [5" id="c-fr-0005]
    5, - Obstacle detection assembly according to ia claim 4, wherein one of the axes of rotation (V1, V2, V3) coincides with the yaw axis of the drone (10).
    [6" id="c-fr-0006]
    6, - obstacle detection assembly according to any one of the preceding claims, in which the orientation module (52) is configured to determine the direction of movement of the drone (10), for example according to instructions of pilot received by the drone (10) and / or data supplied by a geolocation device (56) of the drone (10) and / or an inertial unit (58) of the drone (10).
    [7" id="c-fr-0007]
    7, - obstacle detection assembly according to any one of the preceding claims, in which the obstacle detection unit (30) carries two obstacle detection sensors which are stereovision cameras (64).
    [8" id="c-fr-0008]
    8, - obstacle detection assembly according to any one of the preceding claims, in which the obstacle detection unit carries at least one obstacle detection sensor (64) which is a telemetry sensor, each sensor range sensor being for example an optical range sensor, an acoustic range sensor or a radar range sensor.
    [9" id="c-fr-0009]
    9, - Drone equipped with an obstacle detection assembly according to any one of the preceding claims, the orientable detection support (32) being fixed to the drone (10).
    [10" id="c-fr-0010]
    10, - Method for detecting an obstacle on the trajectory of a rotary-wing drone, comprising the control of an adjustable detection support (32) mounted on the drone (10) and carrying an obstacle detection unit ( 30) having at least one obstacle detection sensor (64, 66) and having a line of sight (A2), so as to orient the line of sight of the obstacle detection unit (30) in function of the direction of movement of the drone (10).
    [11" id="c-fr-0011]
    11, - method of obstacle detection according to claim 10, comprising controlling the orientable detection support (32) so that the projection of the aiming axis (A2) on the reference plane defined by the axis of roll (X) and the pitch axis (Y) of the drone (10) coincides with the projection of the direction of movement of the drone on this reference plane.
    [12" id="c-fr-0012]
    12, - method of obstacle detection according to claim 10, comprising controlling the adjustable detection support (32) so that the projection of the sighting axis (A2) on the horizontal plane coincides with the projection of the direction movement (D) of the drone (10) on the horizontal plane.
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    同族专利:
    公开号 | 公开日
    US20200117197A1|2020-04-16|
    FR3087134B1|2021-01-15|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    CN104932524A|2015-05-27|2015-09-23|深圳市高巨创新科技开发有限公司|Unmanned aerial vehicle and method for omnidirectional obstacle avoidance|
    CN105159317A|2015-09-14|2015-12-16|深圳一电科技有限公司|Unmanned plane and control method|
    WO2018010164A1|2016-07-15|2018-01-18|深圳飞豹航天航空科技有限公司|Obstacle-avoidance detection method, moving apparatus, and unmanned aerial vehicle|FR3112120A1|2020-07-02|2022-01-07|Parrot Drones|IMAGE CAPTURE AND OBSTACLE DETECTION KIT FOR MOUNTING ON A PLATFORM SUCH AS A DRONE AND DRONE EQUIPPED WITH SUCH IMAGE CAPTURE AND OBSTACLE DETECTION KIT|
    CN113950610A|2020-07-21|2022-01-18|深圳市大疆创新科技有限公司|Device control method, device and computer readable storage medium|
    法律状态:
    2019-08-19| PLFP| Fee payment|Year of fee payment: 2 |
    2020-04-17| PLSC| Search report ready|Effective date: 20200417 |
    2021-07-09| ST| Notification of lapse|Effective date: 20210605 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1859387A|FR3087134B1|2018-10-10|2018-10-10|OBSTACLE DETECTION UNIT FOR DRONE, DRONE EQUIPPED WITH SUCH AN OBSTACLE DETECTION UNIT AND OBSTACLE DETECTION PROCESS|FR1859387A| FR3087134B1|2018-10-10|2018-10-10|OBSTACLE DETECTION UNIT FOR DRONE, DRONE EQUIPPED WITH SUCH AN OBSTACLE DETECTION UNIT AND OBSTACLE DETECTION PROCESS|
    US16/596,449| US20200117197A1|2018-10-10|2019-10-08|Obstacle detection assembly for a drone, drone equipped with such an obstacle detection assembly and obstacle detection method|
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